Mr. Bass (Mr. Army?), anyhoo...
You are are on the right track. Actually, I have a similar 4Runner. They are much more capable tow vehicles than what I started with, a Jeep Cherokee with 4.0L six-banger. And the Jeep did acceptably well with an ultra-light 24' TT. The key word there is "ultra-light."
A salesman wanting to sell you what has been sitting on his lot might assure you that you can safety tow a 9000 lb. 30' TT if that is the one he needs to move. DO NOT believe it!
Know your vehicle's weight capacity. And build in a slush factor when looking at the trailers weight rating. Incidentally, all of them, whether TT, 5th Wheel or whatever, have a weight sticker inside a cabinet. Usually in the kitchen, but may be about anywhere. Since you are going to be looking at the storage and build quality anyway, make sure you find that sticker. Then take it with a grain of salt. Once you load in all your stuff, you will be quite a bit higher than the unloaded weight.
For your 4Runner, you are looking at a popup, either hard or soft sided, or an ultra-light tt. So, either limit your looking to those types of vehicles, or alternatively, look at the camper you can afford and really like, then go trade for the tow vehicle you need to pull it.
The pop-ups today are not what they were 25 years ago, many have slideouts, bathrooms, etc. The hard-side folding campers are pretty cool too. The ultra-light travel trailers would be where I would steer you. They come in sizes from 18' to probably 26' or so.
The couple of things you MUST have are a weight-distributing hitch and tow mirrors.
I have a whole range of items I'd recommend owning, because you will find all sorts of neat things you can't do without once you start camping! In that respect, my family's camping lifestyle is very much like my gun affliction!
And again, check out rv.net. Joinup and I'll see you there.
The Highlander