Towing Jayco Heritage or Freedom Caravan

Can't help with consumption figures by you'll hardly know a van of that size is even behind you.
Ozjohn.

Hi. I have pretty much the same Prado with the 5 speed auto and tow a 21 ft Sterling. The Prado handles it quite well with some of the bigger hills making it work pretty hard and changing it back even to 2nd gear occasionally. Average fuel consumption is around 25l/100k towing. The worst I have had is 200K from Wilcannia to Broken Hill into a 90 odd Km headwind. That 200 Km used about 70 L of fuel. I try to use unleaded or 95 unleaded where possible. E10 uses a couple more Ltrs on top. Cheers,Bob.

I have towed with a petrol pajero similar fuel usage to the prado I had a 16ft freedom which is about 20ft including draw bar fuel averaged 16 lts/100kms I then towed a sterling 21ft outback full van 24 to 30lts/100kms about 26ft including draw bar
In a strong headwind the freedom used about 24lts/100kms

However as others have said you would not even know you were towing with vans of this size on your prado apart from increased fuel consumption

We have a Jayco swan (wind the roof up & slide out beds) and a Prado Grande 05 petrol. On the trip from Melb to Darwin last year we used around 18L/100k sitting on 100km per hr. Go over 100km and you are looking in excess of 23L/100k.
My opinion, yes your prado could tow it. Would you feel it? Absolutely, especially on the hills. The fuel consumption goes up to 50-80L/100K on the hills.
We also have a camper trailer. That loaded would weigh 900kg (with jerry cans etc) unloaded 400/500kg. Now that you don't notice behind the Prado! But the 2.1Ton van, you will notice.
Up north, we saw Xtrails pulling small vans too. I have an Xtrail, they are rated to tow 2.5T as well. Would I tow the van behind it? hell no! Would I tow the camper? I have only to move it and would not drive with it.
My point is go smaller and lighter and your car will thank you for it.
By the time you load your gear into your 2.1T van and all your food etc you will be pretty close to your max tow rate. Especially if you have jerry cans, multiple gas bottles to fill.
We do a lot of km's in ours, rarely is it sitting in a c/van park. So a compact van was very suitable for us. Feels safer on the road with the family.
Not sure if all this applies to you but just my thoughts and experience.
Hope this helps!
Good luck!!