My 2003 V6 4Runner was very well behaved and fully capable of towing/launching the Jenny B, a C-22, sitting on a tandem trailer. I would expect the newer ones have a little more torque. In the past, I've run into some vehicle manufacturers with somewhat overblown tow ratings for the engine installed. Not so with Toys. If anything, I was pleasantly surprised at the 4Runner's performance.
The ONLY caveat; I towed over moderate hills and did not climb any 6% grades while towing so I can't speak from personal experience but I wouldn't have shied away if I didn't own a bigger tow vehicle. On long trips where steep grades were expected, I used "The Beast", my Duramax diesel powered Silverado.
As for braking? I had good working trailer brakes, so it really wasn't an issue.
Don