Prado won't cut it. The last time I ,looked closely at them, they towed 2.5t and they had a short wheel base version which did 3t. I don't think the SWB exists now.
Dual cab utes (Hilux, Colorado, Ranger, BT50, V6 Amarok) or something like the LC200, Jeep Grand Cherokee, Audi Q7, VW Touareg (new one arriving soon) would be my picks,