Do you have the tow package? A 3rd-generation 4runner weighs about 3700 lbs. The Pre-runner V6 has a towing capacity of 3,500 lbs without the tow package and 6,500 lbs with it.
If you have the tow package, it should be no problem. If you don't, you'll be over the limit a little but it should still be okay. Just drive gently and leave plenty of stopping distance.
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