The early '90s 4runner mentioned above used the 3.0 V6, often referred to as the "three-point slow" for good reason (I have the same unit in my '91 4WD pickup). The later versions are a much better choice.
Don't overlook the later Isuzu Rodeos - They are ruggedly built, and my '99 Amigo V6 (later known as the Rodeo Sport) with a 2-inch lift was reliable as an anvil with good (but not outstanding) power. In 120,000 miles it needed plugs at 100K, timing belt around 75K, regular oil changes, and a recall reflash of the ABS program. Period, nothing else. Parts might be a problem these days. Figure 20 - 23 highway mpg without towing.
These days I drive a Liberty Sport, manual 6-speed, 2.5-inch lift, it's a nice vehicle, tows a light trailer well, but I think it would have a bit of trouble pulling 5K lbs. And with 95K on the clock, it's starting to have a few maintenance problems, mostly power steering pumps at this stage. I get 21 - 24 highway mpg without towing, about 18 - 19 overall (I do no city driving, but 30 % of my driving is on a steep, potholed dirt road in 2nd and 3rd gear, in 4WD in the winter).