Have a 2017 highlander that I use to tow my Ranger aluminum. Tow weight is about 2500.
With no towing the synthetic oil change interval is 10,000 miles. In the manual they say special uses include towing. But there is towing and then there is towing.
A 4,000 glass boat as an example would be a different stress profile on the engine than my aluminum boat.
Synthetic oil changes are not cheap so asking your all's opinion on this based on insight or experience.
Put this in the general discussion area as traffic is light in the truck care section.