To find the exact towing capacity of your 4Runner, check the owner's manual or check the build sticker on the driver door jamb. Sometimes the capacities listed on the web are right sometimes they're not. The only way to know for sure is to check your specific vehicle. The owner's manual may have several listings, just find out which fits your particular model.
If the camper or RV falls within the weight capacities, you should also consider adding a transmission cooler and a weight distribution system. A transmission cooler will help keep the transmission temperature at an appropriate level. A weight distribution system will help spread the weight over both the rear and front axle on your 4Runner so you don't over burden the rear suspension.
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