Two things:
- The Hyundai Palisade is listed as 291 horsepower, 262 torque. That is sufficient if most of your towing is in the flatlands. It's going to struggle in the mountains since that's a fairly heavy vehicle anyway.
- Most importantly, your max towing capacity is 5000 lbs GVWR. You will be right at the maximum with a 21. If you carry much in the way of luggage, people or camping toys, you will be overloaded. In other words, it won't take much to be overloaded with this setup.
Can you do it? Yes. Should you? I would be looking for either a 19' Escape or another tow vehicle.
good luck,
John
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