To me, non commercial small is less than 1500 lbs.; around 5k or so medium and larger weights around 7500 and above. To add to the great advice of Whitey and Uncle Turbo, regardless of what the maximum tow weights are, vehicles designed for towing do it safer.
So a minivan with an optimistic tow weight of 3500 lbs is much more of a problem than a Tacoma with 3500Lbs Even if tow weights are the same.
We debated this light weight before, and IMO if light to you is less than 500 lbs. I really don’t don’t know of any car that could not tow it “more” safely than throwing 500 lbs in the back seat and trunk. rwd,fwd,4wd, it doesn’t matter at that light weight and, fwd may be better off than any, towing that weight instead of loading it.
So, like FoDaddy asks… please define small…I have a small 8 foot ultility trailer that will take 2000 lbs of rocks, and a 15 foot composite racing sailboat and trailer and supports a 22 foot mast and all gear that weighs just 400 lbs under tow total.