I'm towing with the latest generation 4 Runner now, and it does a good job on the Epic (tow rating of 5,000 pounds). I liked the previous generation even more, though (2003 - 2009). It offered a V8 (not really necessary) and a tow rating up to 7400 pounds. The latest generation is designed more for off-road than towing, but with 270 HP and huge brakes, it still does a good job. The Sequoia is based on the Tundra platform and rated to tow over 7,000 pounds and can carry 7 or even 8 people comfortably. I work for Toyota so I'm biased, but either one will do the job. There are also some Highlander models rated to tow 5,000 pounds, but I have never towed with one of them so I can't speak first hand on how well they would perform with the Epic.