Does your 4Runner have 2 row or 3 row seating?
The 4Runner GCVWR is pretty OK, 11,100 pounds (4x2) or 11,300 pounds (4x4) and I suspect that this plus cargo plus curb weight will have plenty of room. So the total weight of the trailer will probably not be a problem.
The problem with keeping a 4Runner within specifications will be the cargo capacity, especially if you have a three-row SUV.
2 ROW = 1165 pound cargo capacity
3 ROW = 865 pound cargo capacity.
Those are low numbers for towing a 21, and I don't think the 865 number can actually be met realistically.
Toyota requires a WHD and brakes with a 21.
Figure 450 pounds for tongue weight, 75 pounds for WDH (if you look for a light weight one). That would leave only 340 pounds cargo in the case of a 3 row 4Runner, which is basically two people and no stuff.
Things are a little better with the 2 Row, but in either case you would want to put all your 'stuff' in the trailer and not the SUV. And you are not the guy who rolls into camp with a face-cord of wood, a big cooler for drinks, and 2 Rottweilers.
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