Bought a 2017 SE limited AWD for the wife to take her horse out. Dealer had hitch place install hitch and brake controller. When picking up Santa Fe, hitch place said no way they would use this to pull a 2 horse trailer. I explained that trailer weighs 2200 plus horses (850 x2) and tack - 4200ish. Opinions?
I guess the question is long term are you more comfortable towing with that or something like an F-150 with 10K capacity package.
To give you a better example - my Accent and a Ferrari should both be able to go 100 mph, but the Ferrari tops out at 186 MPH, and I could drive all day at 100 mph in probably 3rd or 4th gear. The Accent will go that fast, but I probably wouldn't set the cruise control at 100 mph for a 10-hour drive.
You can tow up to 5,000 lbs, including cargo and passengers in the car. So you are right below the limit. You can do it and definitely the 10 year warranty will cover you if anything breaks.
Keep in mind that if you tow every day and you go up-hill (only worry if it shifts down to the 1st gear) for 100 miles everyday with 100F air temperature then you will likely break the transmission at some point. Again, the warranty will pay for it. You are allowed to do it.
Point is, it really depends on how much stress you are going to put on the transmission. Will you really use the SUV like a truck? Probably not.
Lack of information in your personal info. block begs the question: Do you live in a state like Nebraska or one like West Virginia?
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