thinking of trailmanor. Need help!

We are looking at a trailmanor but not sure we can tow it. They said we needed a class three hitch but toyota doesn't make or recommend a class three for our SUV. We have a 2003 Highlander limited 3.ol V6 VVT-I eng 3-stage awd with the two prep pkg and converter maximum 3500 lbs. On the specs of the vehicle it says Capacities:
curb weight - 3880
fuel tank - 19.8
towing pkg with converter - 3500
GVWR - 4985
Payload - 1105

Do you think we can pull a trailmanor? do we really need a class three hitch? We are new at this and are really confused. Please HELP ???