Welcome to the Forum!
First, I looked up the campers on the Winnie web site. The 2100BH is 7000# GVWR (max wt it is designed to carry) which means a hitch wt of 700# - 850#. The Minnie Drop 190BH was 4000# GVWR, for a hitch wt of 400# - 500#.
Salesmen tout the dry wt, but nobody goes camping in an empty camper. When you add all the stuff needed to use the camper, you will be much closer to GVWR. Anything less is a safety margin.
Published hitch wt is totally useless. The real hitch wt MUST be at least 10% of the actual camper wt, not dry wt. Any less will lead to horrid sway issues.
Will the 4Runner handle either one? Open the driver door and look at a yellow banner placard, which will say in part, the maximum weight of passengers and cargo shall not exceed xxxx. This is the max Payload for THAT SUV as it left the factory. It is exactly what it says.
Add up the weight of all passengers, pets, car seats, snacks, and toys to be carried in the 4Runner. Add 80# for a WD hitch. Subtract this from the max payload, and that is the most hitch wt it can handle.
The brake controller is an absolute requirement! The anti sway WD hitch will really help, if not required by the weights.
I am not looking at published tow capacity, as it is not much help. Since you are looking at a BH, I assume this is for a family with kids, so this method of calculating capacity is much better than tow capacity. The weight of everything mentioned above, except 300# of passengers must be deducted from tow capacity, as well as the weight of all factory options.
Keep reading and asking questions!