Huge number of options. 4k isn't a hard threshold. But we have no idea what other features you need. A 15 year old, bare bones half ton will do it but may not be what you are looking for.
Another consideration is not just will it, but how well. Santa Cruz AWD Turbo is rated to 5k. But I'd rather tow with the Maverick than a Santa Cruz, Highlander, etc. It's more of a bonus option not their prime focus. But towing is in the Ford Truck DNA with Maverick.
When I found the Maverick I was actually looking at a Subaru Outback as I was looking for something in that 4K towing range. Most of the small suvs top out at 1500lb towing.
Thanks! Needs to be brand new and able to tow a smaller pop-up or a 18ish center console easily. I didn’t know the Toyota SUVs could come close as we have an older Venza that tops out at 1K.