Hey Philip,
The old man has an NM Pajero and he tows a 2 tonne camper trailer all over the country with it, no worries. Don't know how it would go on the beach as he won't take it there. A very capable 4WD everywhere else though. Might be a bit heavy in the sand, but I imagine it would be OK.
I imagine the Prado would be OK for what you want, but wouldn't a Pathfinder be a bit light to tow a 5.2 half cab? How much does it weigh?
Steve