I've heard excellent reviews of the Nissan Armada/Infiniti QX80. V8 engine with body on frame construction. Fuel mileage is rough in those, but I hear they pull and ride nicely. Neighbhor has a '21 Titan (same basic chassis and driveline) and loves it. Interior is probably the best Asian based vehicle interior I've seen. The new Frontier is getting great marks as well for the new interior. I would expect the Armada to be close behind in the next year or so to get the redesign. Nissan get's a bad reputation for the CVT's it puts in all it's smaller vehicles, but honestly the engine/transmission/chassis in the larger trucks is fairly stout, has good power, and is as reliable as anything else.
Hear a LOT of good things about the Durango platform. Not really a fullsize (more like a large mid-size), but it's available with a "tow and go" package that offers the V8, trailering equipment like load levelling shocks and additional cooling, as well as a large set of Brembo Brakes. SRT variant gets you into a BIG V8, and the Hellcat gets you into a supercharged BIG V8. I think the regular R/T with the Tow and Go package is a good value overall.
I've got a Q7, as do others here. Tows my 190 without issue.
@Julian tows his 242X with the same platform. Definitely on the small side of "mid-size" though. The new SQ7 is rated at 7,700lbs and has a fire breathing 500+hp from a 4.0L TT V8. I'm enjoying the "sporty-ness" of the Q7 in my daily commute, as well as the 4 wheel steering for parking (turning radius is only 20ft) and backing the trailer. Has lots of tech, and is fairly robust in terms of driveline.
You don't hear much talk about the Toyota Sequoia for some reason. Not sure why. It has the ratings, size, and price point to compete.
@swatski LOVES his Land Cruiser, and I hear they tow well aside from sucking fuel down and having a small tank. I want to say he's done a cross country trip with his AR240 and the LC with good results.
Also don't hear much from the Land Rover/Range Rover crowd, although they have good capacities into the 7k range. I have zero exposure to them, but know they exist.
If money isn't an issue, I think the new diesel powered Suburbans would make a helluva tow vehicle and general family hauler. They're the size of a small bus though. About my only complaint is the size, and the price. When I was shopping for a 3-row SUV, even the used Tahoe/Yukon family was over $60k with acceptable mileage. They're nice, and arguably worth the money, but damn they're so expensive.