Towed with Yukons, Denalis, Escalades, and HD Trucks. If you're within the weight limits SUV's tow just fine. With my old Yukon I think I even towed over weight a time or two, once was a 20' car trailer we made sides on and put all my old roof in, pretty sure it was over weight. Tow mirrors are nice but not really needed for most trailers.
I have considered trading in my truck for a newer SUV for family things and still using it to tow my car but then I need the bed for something and just wait to get my wife something new.
My trailers are either equipment trailers way too large for a 1/2 ton, or big box trailers.
I pulled a big stealth box trailer with a pintle, 14 or 16 by 8.5. I couldn't see jack, and the trailer was pushing the truck around when I forgot to hit the manual brake. Even with the gain all the way up it was pushing the truck around. It was just weird. I've pulled the same trailer with dump trucks and hd pickups, and it doesn't push the truck around like it did to the Denali. Wasn't as much slop, or at least it didn't make the truck jump as much on the bigger trucks, probably because they're heavier.
It COULD do it, it wasn't sagging the truck out like crazy or straining to pull, but I wouldn't do it again unless I absolutely had to because it wasn't comfortable. Bumpy and sloppy. Couldn't see.