Hi Kristen, 2005 4runner
reviews look OK. You would be pushing the limits a little if you take into account the stuff that you bring along while camping like food, water and bikes etc. With four wheel vented disk breaks you should have the stopping power. With the short wheel base a good anti-sway hitch will be in order.
I'm curious what years Road Ruler is talking about. It seems this generation is allot better than the 90s version for towing.
Just some thoughts. Continue to do your research and see what you come up with. Good luck!