I have a 17 ft Grizzly MV with 60 hp (there are others configured much the same) I've taken a total of 4, 2 kids 2 adults several of times to fish camp with gear and it does well. Be careful as weather and lake conditions can change things dramatically.
My 4Runner has been the best vehicle I have ever owned. Deep snow and rough trails out west, mud muck and beach sand here in the southeast never even close to feeling I was gonna get stuck. Tows my 17 foot grizzly well and just do normal maintenance. Good off road tires are certainly important...
If you are less than 120lb and in warm conditions it might and I stress might be ok as long as there are no rocks or standing timber. But as for me I will stay with my tin boats.