Kids and Trailer

I suggest either another Sequoia or a 2013 or newer Chevy Traverse. The Sequoia is more reliable and can tow more. The Traverse will probably be more comfortable in terms of ride, but the interior is smaller. 2012 and older Traverses were unreliable. The Sequoias are expensive to buy used, but the resale value on them is amazing.

Lectrofuel gave mostly good advice. Another Sequoia or 4runner would work for you. Traverse however won't work for you because the towing capacity is only 1500 lbs on that SUV, and you asked for 5000 lbs.

With 5000 lbs your options narrow considerably for a reliable SUV. Here are the options I am aware of and I list relative reliablity (Toyota is the best, Honda and Chevy follow):
Dodge Durango - 6,200 lbs. - but not all that reliable
Jeep Grand Cherokee - 6,200 lbs. - also not all that reliable
Land Rover Range Rover - 6,613 lbs. - makes the Chrylser products look reliable (even worse)
Toyota Highlander - 5000 lbs. - at your limit so it may feel a little underpowered at its max but very reliable
Chevy Suburban - 8,600 lbs. - expensive, not as reliable as Toyota but better than all the others listed so far)
Cadillac Escslade - 8,300 lbs. - even more expensive, less reliable that Suburban
Nissan Armada - 8,500 lbs. - Nissan is less reliable than GM products, better than Chrysler
Ford Expedition - 9,200 lbs. - about as reliable as the Suburban
Honda Pilot - 5,000 lbs. - like Highlander, the limit so it might not be well suited for you. Is fairly reliable as of late but older years do have transmission issues

You want the best reliablity, you are going to stick with Toyota in this catagory. A Honda or Chevy proably will suit you fairly well (if you can deal with a 5000 limit on the Honda).

Best of luck.

Traverse and Enclave with towing package which includes transmission cooler amount other things, is good for 5,000 lbs towing minus cargo. Subtract interior cargo and you won' overheat the transmission on long drives. Short drives at the speed limit will be fine.

This is true, if you pay extra for the towing package it does max out at what you need on the Traverse, 5000 lbs. Without it, you are limited to 1500. This may have changed for the newest Traverse launching this year.

I was just assuming if you are towing a boat you would get an SUV with a tow package on it. Good for 5,200 lbs; otherwise it is 2,000 lbs without the tow package. If you will be towing frequently the truck frame SUVs are what you need. If you buy it new sometimes you can negotiate and get the tow package installed for free like my wife did. It probably saved a grand or two. I would have suggested the 4Runner but you need six seats.