I had a 2003 Tundra 4 door with my prior 20 Seacraft and it would tow it just fine. I also towed a 23 Boston Whaler open that was much heavier than mine to the keys and it was fine also. When I picked up my current (2012 model)I bought it back from Ft Myers with no engine and I had no issues
I have also used a Ford F150 and it had no problems.
Just remember to that most can tow but stopping is where a too small tow vehicle problems show up. Gas milage?....well whose counting