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We are in need of a used vehicle which can occasionally tow a horse float (possibly in a wintry hunt meet paddock) or a runabout boat trailer across a beach with some soft sand at the high tide zone (not full on dunes).
Early inquiries indicate a braked towing capacity of 2000kg minimum for the float. The vehicle will also be the main family 'going away' car, but not the day-to-day city runaround.

We need expert advice about whether something such as the Toyota Highlander (all wheel drive) will have the off road capability needed, or whether we need to buy something with low ratio such as a Hilux or Prado. They seem a bit rugged for highway driving. Toyotas seem to have high re-sale prices even for vehicles with quite high mileage, but the Dog & Lemon is scathing of some rivals such as Nissan 4WDs which seem very popular. Anything to bear in mind re mileage or makes and models?

Also, what are the benefits of petrol versus diesel for our scenario?

Thanks in advance.

Toyota build very good SUV's and all the models you mention would undoubtedly do the job. The Highlander does have a reputation for high fuel consumption, but is probably no worse than any other V6 petrol 4x4. The Prado is a very good tow vehicle, with the diesel being particularly well suited for towing. It also holds its value very well.
Some commentators may suggest Toyotas are better that their competitors, but in our experience, this comes down to the strength of the brand rather than the quality of the vehicle, as many competitors also build very good 4x4s.
Nissan also build good SUVs, and some models from Mitsubshi, Ford etc are also well regarded. Obviously, price is also a factor, so it depends on the budget to a large extent too.
Our pick of the models you've suggested would probably be a diesel Prado.