Midsize SUVs or Crossovers for Towing?

I have never owned an SUV and have never had any desire to. I now find myself looking for something that I can haul tools, supplies, people, and someday soon, a small travel trailer like a teardrop. I am not a fan of the giant SUVs (Expeditions, Tahoes, Ukons, etc.) and have my eye on something a bit smaller and sportier AWD or FWD like the Santa Fe, Sorento, CX5 or similar but with still enough power to haul a 3k to 5k trailer. Is that even possible? I have been researching but it's a bit confusing so I thought I'd just ask it here. Thank you.
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If your need for towing is only occasional, then just rent a pickup for that.