I tow our X17A with our Rav4. It is very capable and very stable. Some things I have done. Rear springs swapped out for the 7 passenger springs (from when we had the popup), Long Trail BFG tires, OEM receiver (16 mounting points VS. 4 with aftermarket,very important IMO), External Trans cooler, Prodigy P3 controller and a Progressive industries E4 6k hitch. I also run Premium fuel when towing. It does make a difference. Make sure to tow in 4th ALWAYS.
Good luck and have fun.