i used to tow with a 1998 4runner. i had the same boat. i will say that it struggled. also, my boat was a single axle trailer and after the boat pushed me through a few traffic lights, i decided it was time for a bigger car. the reason i went through a couple lights was i was traveling at 65 mph on an open highway. there are probably 5 lights in a 2 hour span. i finally learned that when i light is ahead, you better slow down no matter what color the light is because if it turns yellow, you wont be able to stop a boat at 65 mph with a 4 runner a trailer without brakes.
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