I recently moved from a Nissan Frontier pickup truck TV to a 2015 Toyota Highlander. I was ready for a more car-like driving experience in my day-to-day commuting, after 10+ years in pickups.
Haven't towed a long trip yet. The Highlander has a 5k lb towing capacity, with transmission cooler and a heavy duty alternator (is? is not? a smart alternator? TBD).
Different folks will feel differently about pulling a Camp-Inn with a TV of this capacity. I also sometimes pull a heavier boat. And used to rent cargo trailers regularly. I once had a panic stop at freeway speeds avoiding a semi-trailer that decided my lane was better; we had overlap at the start of this. Scary. I was towing about 2000 or 2200 lbs in an older Frontier, and went from 60mph to stopped extremely quickly. My 1st Frontier (there were 2) saved our bacon, though my heart about burst out of my chest!
So, for me, the "downgrade" from 6,500 to 5,000 towing cap. is about all I'd want to do! Love the BIG DISK BRAKES ON ALL FOUR WHEELS!
I arrived at the Highlander through doing a lot of research, including Consumer Reports. They like the Ascent even better; the two of them are in about the same class of TVs, but, I was buying pre-owned, and the Ascent is too new for there to be much available on the used market. The Kia Sorento is in the same neighborhood at lower cost.
OTOH, what Toyo provides does *not* give you any head-start on wiring for a 7-way connector with power and brake controller!