towing a 2006 3326 with 2008 Toyota 4Runner V6

Hello, as the title suggest I would like to know if it's possible or if anyone has experience towing a 2006 3326 Trailmanor with a 2008 Toyota 4Runner with a V6 engine? The specs on the vehicle show a towing capacity of 5000lb. Fully Loaded I would expect to be somewhere in the vicinity of 4500 - 4700lbs. What optional equipment would be a necessity for safety concerns?

Would greatly appreciate any responses.

thanks