Just finished towing our Escape on the dolly behind our Axis for a 200 mile trip. I estimate that the car+dolly weigh in at a smidge over 4000 lbs (yeah didn't get them weighed yet).
The Axis easily handles the job. At times you do notice it's back there (like catching a gust of wind seems to have a bigger affect with the toad). Since my straps are new I did stop frequently to re tighten them--at the first stop they were pretty loose but after that they remained tight.
Since we were pulling the wife's car she was looking over everything at every stop LOL.
They even match: