what model can I tow with our 2009 V6 VENZA with tow prep?

We used to camp with a VW westie, got tired of the old. Plus we had to put it all away to go any where. So now I'm looking for a self contained, camp in the rain if we have to pop up trailmanor. Just the two of us moving towards retirement. Our Toyota has the same engine as the Highlander with the 3500 lb. tow package (oil cooler, larger radiator fan, larger alternator) Ordered AWD for winter driving for skiing, 109" wheelbase and a length of 189". So how big can I go? Want to drive pretty much anywhere (on roads) and not during the winter. Any comments and a dealer near Seattle would help. After some site research I think can tow at least a 2720SL, maybe a 3124KB?