Hi and welcome.
I don't think you'll be able to do what you want safely and comfortably with that tow vehicle. It's not going to be at all like towing with a 2500.
Consider a few things:
The 5000/500 rating is going to be with an empty (except for the driver) TV.
The 3654/435 is going to be with nothing in the trailer, including no fresh, gray, or black water, batteries, water in the water heater, or options.
I have a Highlander with the same ratings, and a 179 (which is quite a bit lighter than a 193) and only 2 people. I come in at 3850/500 on the trailer and I pack light. There is only about 350 lbs besides me in the Highlander. I wouldn't add any more weight to my rig.
What gear and supplies are 4 adults going to need?
Check the MGCVWR (combined max weight) of the Suby as well as the tow weights.
Consider how close to absolute max weight you want to be.
Good luck!