Having just finished an 1800 mile, 17 day trip towing a TT with our F150 V6 truck, I definitely have an opinion on this now!
Much of our driving was on hilly and twisty roads and up to 4,000 feet. Our trailer has a dry weigh of just over 3,800 lbs but the batteries, jacks, propane tanks, etc. (the mandatory add-ons) plus all the interior mods and upgrades plus all the camping gear added another 1200 lbs for a total weight of 5,000 lbs. If we wanted to dry camp and fill the fresh water tank, that'd be another 300lbs. My point is, you may think you have a light trailer but you need to account for the total weight of all the add-ons. Your nice lightweight trailer might not be so lightweight as you think. And as someone pointed out, you will lose 190 lbs of towing capacity for every 1,000 feet of elevation you climb. That never occured to me before and that could really hurt if you are already pulling on the edge of your limit.
While our V6 1/2 ton was kinda okay for power, it really struggled up some hills and could only make 30-35 mph up some of them flat out. I tried downshifting to 1st but when I picked up speed and shifted into 2nd, the rpms were too low and we would slow down again. Transmission gear ratios is something to consider for towing.
Gas mileage with the V6 REALLY
sucked. I mean, you could hear the gas being sucked out of the tank and see the needle goin' down fast. Our best run was 10.8 mpg but only because we were on a very long downhill run. Worst run was 6.8 mpg with the average trip mileage being around 7-8 mpg. The only good thing was gas prices are down somewhat at the moment and we gassed up once at $3.19/gal. A V8 would give better mileage. When I bought the truck nearly 10 years ago, I never thought I would own a TT, otherwise I would have at least bought one with a V8.
The worst thing about pulling with a 1/2 ton truck is that it is really hard to hold the truck in a straight line due to all the wind buffeting at speeds above 50 mph. We even have new Bilstein shocks so the truck is as stable as it can be. It is really, really exhausting on a long trip like we did. You can't relax, you need two hands on the wheel (at least if over about 50 mph) and you can't glance around and sightsee. You are always doing little mini-adjustments to the wheel to keep it pointed down the center of the road. A better WDH hitch might help this?? We are definitely going to upgrade to a 3/4 ton in the near future for more relaxed driving. I can't imagine how how doing this with an SUV would be.
One thing to think about a pickup versus an SUV/minivan is that a truck has a longer wheelbase and wider track. It will inherently be more stable. Trucks have beefier brakes, suspension and drivetrain. Trucks are built with a frame while SUVs and minivans are unibody construction. They just can't take the abuse like a truck can. The newer trucks have factory towing packages in them and they are putting in things like beefier front brakes even in the 1/2T models.
With a truck, you have the bed for cargo. It's surprising how much bulky stuff we've been taking along - firewood, pop-up canopy, portable cooler, garbage can, and more. Also gives you space to bring stuff back home you might buy while away.
Unless your camping trips are only going to be short occasional local ones, I'd say you can live with the appropriate SUV like say a Toyota Highlander (rated to tow 5,000 lbs). For longer trips, hilly roads, up mountain passes, freeway driving, twisty roads I'd definitely go for a 1/2 ton with a V8 or maybe even a 3/4 ton.
The best thing you could do, and it's maybe not possible, would be to do a demo with a truck and then an SUV with your trailer hooked up and head out on to a highway for a spin.
Anyway, just another over opinionated opinion....