if you're towing with the fresh water tank full then I assume you're going to be boondocking or  staying  in undeveloped campsites, otherwise you should wait till you get there to fill the tank. A full fresh water tank is 250 lbs. Be sure you also fill the water heater, that's 50 lbs. If you're spending more than a day or two at an undeveloped site you will likely want a dual battery system, that's around 110-130 lbs depending on what you get. Most of the above weight will be on the tongue and none is included in the "official" rpod tongue weight. many folks also want a dueal propane setup (40 lbs). Then there's anything you put in the storage area, and unless FR is putting a better mattress in the 195 you'll likely want to upgrade that. The list goes on, you get the idea. I guess you'll be around 600 lbs on the tongue if you do most of the above. 

You should also check the GCVW, that total weight of the Highlander and rPod and compare that the the GCWVR (this rating should be on your Highlander door sticker). The 5000 lb tow rating assumes a very lightly loaded tow vehicle, typically just one skinny driver and nothing else. 

On the wdh, it needs to be able to handle redistribution of both the tongue weight and any weight in the tow vehicle behind the rear axle.  I would suggest at least a 1000 lb capacity wdh for the 195. You can always adjust the tension on the wdh bars to get the amount of weight redistribution you want so there really is no downside to having a 1000-1200 lb capacity hitch other than ride stiffness, which won't be a problem with that trailer the way it looks like you plan to load. i run a 1200 lb wdh and its fine with my 179 and Highlander. 

But please be careful, just because a vehicle has enough power to pull a trailer doesn't mean its safe. Power is not the most important factor. 

New Member. Previous C-class owner.

Waited a year after considering the 179 but saw and fell in love with the 195 floorplans with half walk-around bed and separate shower toilet areas.

Purchased in Sacramento. I love the Costco member pricing--competitive, simple and no haggling. 2015 Toyota Highlander pulled trailer (in the mountains) with ease. I am looking to add: WD/Anti-Sway hitch setup and wireless rear camera.

https://photos.app.goo.gl/xqDECNn1G2o3yu337