As a 4 runner owner , I have to jump on that band wagon. Though no suv is really a mileage champ, especially one that can tow 5k lbs, I believe the 4runners will do it most efficiently, and reliably. My second less expensive and with better mileage recommendation, would be a Toyota extended or extra cab in 2 wd PU.
The best alternative, may be a cheaper used tow vehicle used only for that purpose, and a compact for daily use. A used Focus, corolla or civic with an older pickup, will be less expensive then an suv used as a daily driver.
Funny that the web sight shows a truck towing a catamaran. They may weigh as much as 300 lbs in that size. Even a Yugo could tow it. Otherwise, good reference though it lacks specificity. The Tacoma can do 5k in v6 form for example.k