We have an escape 17, we travelled approx. 3800 Kim's & back to Nova Scotia this past spring towing with a 6cylinder RAV4 Sport with the tow pkg., we have a WD HITCH as well.
My experience was : this set up would be more or less ok if you we're not going fairly far. Our trip took 41/2 days, lots of various roads - freeway, secondary etc . We ran into lots of wind as well. We also were on prolonged inclines. In my opinion the vehicle was fine on relatively flat, even some big hills were fine, but the prolonged incline, rough spring roads, wind all became factors that seemed to be hard on the vehicle, and on the "comfort" of towing.There were just two of us, with not a ton of stuff in the vehicle, the trailer weighed 3180 lbs loaded, we were pretty close to the GCWeight. If I was camping - even 6 hours or so from home, no problem, but the extensive travel, coupled with worrying and calculating weight on the hitch (350 max) gets a bit tiring. I know there are people who do it and are fine with it, but I don't think it,s for everybody. I got between 13 and 15 mph( imperial). When I got home I decided I didn't want to do the trip again with the RAV, and traded it for a Chev Siverado 5.3 which most people towing the type of trailers get 16 or 17 mpg, I get 21 without the trailer on the highway,. So the milage while towing will be close to the same, as the RAV and I probably won't know it's there, coupled with worrying about how to take extra's such as tables, etc.which is more or less what I got with the RAV- Some of this depends on the individual, but the RAV on long distances with any extra people or stuff in the tow vehicle is a challenge.
2012 17B Chapi