It is not a good idea to cut it too close on towing capacity. Remember a too small vehicle will be “pushed” around by a too big trailer. Smaller SUV’s mean smaller tires, lessor springs, struts, and sway bars. A larger motor and sturdier transmission will handle the load easier, therefore lasting longer.
In a Toyota brand a 4 Runner might be OK, but a Sequoia would definately be OK. Newer SUV’s have greater towing capacities than 5 to 10 year old models. If you are buying new a 4 Runner is fine. If you are buying used, I’d get a Sequoia. My '01 Sequoia handles a 5,000 lb load just fine.