The Rockwood ESP (
Extreme Sports Package) 2280BHESP and 282TESP are both in range.
2280BHESP is 2,559lbs unloaded, with ccc of 1,279 and a hitch of 338lbs
282TESP is 3,377 lbs unloaded, with ccc of 1844 and a higt of 221lbs
Both starting to climb up against your highlander's numbers. But with your experience, you know about how weights are (and the weight police) so take everything with a grain of sand.
I'd backload the bike back on the bed right up next to the camperbox/as close to the axles as I could to get the weight distribution as tow-friendly as possible. Rear-loading the deck really reduces the weight of the cargo on the hitch, and so long as you're NOT BEHIND the axles, you should be fine on load-induced sway.
Just my opinion, though., Hope this helps.