Do you need a truck, or does an SUV work? Need to seat more than 2 people?
The Tacoma Access cab is rated to tow 6,500lbs, and it's the truck I'd get if I wanted something smaller. 16 city/21 highway/18 combined.
If you don't need the bed, I'd go with an SUV. I'm not the nervous type, so I'd probably tow your 5,000lbs with a Ford Escape Ecoboost which is rated at 3,500.
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