Re: Toyota Highlander and 22.5 ft boat?
To me, that looks like too much boat for your Highlander. I personally wouldn't do it as it appears unsafe.
According to the specs off Toyota's website, the 2012 4WD V6 Highlander can tow 5000lbs IF it has the HD radiator as part of a package (I'm guessing this is a towing/hauling package that includes AC as that usually includes a larger radiator). You don't mention the specs on your Highlander - year, engine, options, etc. Also that drop is fairly significant. Remember, it may drop your rear by 3-4" but your front end is going to go up 3-4" which can affect your steering (or lack there of).
What's the current weight of your 22' boat? I'm guestimating my 19'6" '05 Four Winns at somewhere near 5000 lbs loaded. If yours is anywhere near that, you're at/exceeding your tow limit which isn't advisable.
I'd recommend getting the entire rig, fully loaded - gas, safety gear, etc - to a public scale and get it weighed. Then you will know if you are outside the capabilities of your Highlander.
Also, just because the Highlander gets better mileage than your truck unloaded, your mileage may be same or worse when pulling that load. Due to lower HP/Torque, you may spend more time in the higher RPM range of that engine. Higher RPM's mean higher temps. Higher temps can cause premature engine failure.