The Frontier did tow my trailer, but it sounded strained to me. Plus, I have many more options to upgrade to a new trailer if I desire.
Of course it was strained, the engine was propelling twice the weight that it usually does down the highway! That is just how towing is.
Using that logic an 18 wheeler would have to have a cruise ship engine so that it would not feel or sound "strained" under load while towing 100,000 lbs.
If you don't ever tow in the wind or mountains it may be ok. For $15K I would get a used Ford, Chevy, or Dodge truck in 3/4 ton if possible. There are some great buys right now on full sized pickups. The Nissan V6 pickup doesn't get great gas mileage and would even be worse towing.
You will be more comfortable towing with a full size truck. But, if you aren't towing too often, and not too far then the Frontier will do the job. And will be a slightly better daily driver.
Still, if you camp regularly then I think I'd go with a full size truck. Titans, 1500's, F150's can be had pretty cheap right now, too.
68 Me & DW
93 DD
03 DD
06 F150 Screw 6.5' Bed, 4x4, 5.4, 3.73
04 Tahoe 23RB-GL Honda EU2000 Parallel Cables "I hope you like Guinness, Sir. I find it a refreshing substitute for...food." Col. Jack O'Neill, Stargate SG-1.