We've been researching tow vehicles for our 21, due to hatch this November. We picked one, and we're planning on spending Friday haggling with the dealer on a (new, 2014) Nissan Frontier 4x4 crew cab, Pro 4X trim.
I drove one the other day, and it was okay. Definitely not a Miata, but comfortable, and I was able to keep it between the white lines and everything. It's just the two of us and a pair of smallish terriers -- the 2nd row of seats is for the terriers, of course.
We don't want a full-size truck, and we think the Frontier has the oomph and stability we need to tow comfortably. We don't know that we'll need it but we're planning to use an Anderson hitch, again to maximize towing comfort; we've not pulled anything heavier than a Hobie Cat in the past.
If anyone thinks this is a poor choice, please weigh in! We only buy cars every 10-15 years so we want to get it right.