I personally would not do it. Anything 20’ and up is full size territory in my opinion.

I picked my Champ up in Lafayette. I towed it back to Rockwall with my Tacoma. No problems at all. LA does not have weight on trailer titles so I had to weigh it before registering. With 1/2 tank of gas (95 gallon tank) and no gear it weighed 4650 lbs hitched to the truck. I ran 75 on interstate all the way back. Tacoma had the 4.0. I never had any problems launching and never used 4wd. I think you will be fine. I bought a Tundra not long after buying the boat. It was time for a new truck and wanted a full size again. I hated to sell the Tacoma it was a great off road truck. I could out run the mules on the deer lease.

75mph in what gear and at how many rpms? Just asking since it can barely carry its own bloated butt much less an extra 5k lbs. At 75 I'm about 3200 rpms in 4th and about 4500 in 3rd. I drop to 3rd fairly regular with no trailer.

I towed an 18' Ranger with my '06 Tacoma with 4.0 without any issues. The four runner can weigh 400+ pounds or more. Maybe yours has a different rear end ratio ? I could tow on the hwy in 5th a lot of the time

Maybe I got a lemon but there seems to be a lot of similar complaints.

I towed in 5th. I don't recall RPMs but normally at 75 it would be in the low 2s. I had an 18' Ranger 375 before the Champ. I can't honestly say you did not know it was back there but really did not feel it once up to speed.

I have a 2020 4Runner and it tows my 21' Legend well enough. I keep my boat at a marina so I don't tow often. Longest trip was 3.5hrs and that was when I first bought the boat. Gas mileage and acceleration were awful, but it handled fine.

We have the same vehicle in a limited package. We love it. It's a dog, but I know it will run forever. And like you said, I absolutely would not pull anything with it. It can barely get out of it's own way! We do love it and plan to keep it for a long long time.

Anybody that tows AT the vehicles MAX weight probably isn't going to like the experience.

Not sure if it was brought up already, but does your boat trailer have single or dual axles. The dual axle will help with the tongue weight and distribution. That's the key for the tow vehicle to behave properly.

I personally don't like towing anything unless it's with a full size. Footprint / wheel base as well as braking come into play for me. It's how well your tow vehicle will behave when you have to do an emergency / short stop. I was spoiled with a F350... weight, wheelbase and brakes made all the difference. The engine is just getting you up to speed.

The two mile trip to the local lake may be fine... but going to Texoma is where I'd think twice if you're on the road for a while.

We've had two 4 Runners, a 2004 V8 AWD and a 2010 V6 Limited AWD. My wife just loved the old V8! When it came time we drove all the "new" 4 Runner models and the Mrs just didn't want the V6. So, we ended up with a then 3 year old CPO AWD Lexus GX460. That is one sweet little V8 SUV! The only downside is Lexus calls for premium fuel. The three year old copies coming off lease seem to be great buys. We've had ours two years now, it's five years old with nothing but routine maintenance we get done at the local Yoter dealer.

I'll be towing my ZX20 to Ray Hubbard soon. What little I've towed with our 4Runner TRD ORP yes it was slow but so was my Silverado Z71 with the max tow package. I think the 4Runner actually takes off better than the Chevy did but not by much.

Not sure this helps. I have 2016 tacoma limited 4x4 V6. I towed both 2007 16 ft tracker and new G3 17 Bay...have to tow using the ECT. Trucks has been rock solid with the "tow package"....7,500lbs.

It gets 12 mpg when towing.......You decide...I love the truck....just not its towing capabilities....would I sell it, no...next vehicle will be a towing machine.