Not directly responsive to your question, but may be a little helpful. I have a 2005 V8 4Runner that I use to tow our 25' FB. BUT - I don't tow it on multi-lane highways, and I don't go over 55 mph. We have a bigger truck for the long distance trips.
You are likely to get a variety of opinions on this topic, really the answer is specific to you. You're well within the weight limitations of the setup. So, other important factors include how your trailer is loaded (not too much behind the axle), the quality of the hitch setup (not the hitch, the setup), and your experience with towing. Definitely can be done safely. Have fun!
Edit - saw the response above, if you can get advice from Andy you should definitely take it.