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Your Highlander has enough motor and transmission, and enough brakes. A well-balanced trailer won't put more than 200 pounds on the tongue, which isn't much different than a fat chick in the third row seat. It will handle it just fine. Electric brakes would be MUCH better, but it depends on the trailer and then you'd have to wire and install a good controller.
Just be careful of the tail wagging the dog.
I'm with wdfifteen. If it's just once or twice, just pay to have it moved or rent/borrow a truck that's already set up.
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-Eric
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