I tow my 17 CC triumph that has a 75 hp merc, total boat and trailer weight about 2000 lbs with a Toyota rav4 suv. I added trailer brakes. Tows no problem. On steep ramps I used 4WD mode. no problems. when I tow my boat in the rav4 I carry a light load in the SUV. However next year I am going to upgrade to small pu with a V6 as I expect to be towing long distance and expect to load up the PU truck (extra 500-600 lbs).
It really depends on the load you are towing and the distances. Besides local towing I expect to take a 800 to 900 mile trip 2x a year towing my boat and carrying a large load in the PU of wife, dog, and a lot a heavy camping gear.