I have the 3.0 D4D Auto Prado, and tow our 6.3M Caribbean @ around 2000Kg BMT if I don't fill it with fuel or gear. The Prado tows it well returning 16lt/100 Km traveling between Canberra & the coast up and down Brown Mountain. Get around 10.5 around town and 9 on the highway.
There are only three hills between Melbourne & Canberra that required the auto to drop back to 3rd, as we picked the boat up in Melbourne.
I can back the boat up our driveway which is quite steep, and using low range 4wd it just idles up comfortably.
My Parents have a BT50 Dual Cab, also a good tow vehicle, but not quite the torque of the Prado, the old fella's boat tips the scales around 1800Kg and it pulls it with ease.
The Prado has a 2500Kg tow rating, so if your really getting up there, as others have mentioned, the D-Max or the Hilux are worthwhile considering. We chose the Prado because we needed to cart a family of four industrial sized adults.
It is worth noting that the SWB Prado has a tow capacity of 3000Kg, the LWB version is reduced to allow for the 7 seat configuration and carrying passengers and gear.
I also looked at the Jeep, and while the price was lower, everyone I spoke to who owns one has had reliability issues, mostly electrical. I just don't have the time to deal with things like that.
If you can afford to go new, the common rail diesels are well suited to the task.
Hope this helps
Thy