Been there, done that.
We had a 2012 Grand Caravan with which we pulled our 10' Pop-Up camper.
The camper weighs about 2000lbs loaded, which was well within the 3500lb tow capacity of these vans. I like the Grand Caravans with the 3.6L Pentastar, because it's a powerful motor and pretty reliable. I think it's the best engine Chrysler makes. The 6-speed automatic transmission comes with a factory oil cooler, so that's something that is already taken care of.
One thing I would recommend is beefing up the rear suspension to handle the increased tongue weight of a trailer and all the stuff you'll put in the back. If you can find a van with the factory tow package, this should already be taken care of with the fancy NIVOMAT rear shocks. Otherwise, you'll need to look into installing either airbags or Timbrens. I installed Airbags, and didn't like them, as they constantly leaked. They were great at first to reduce sag and level the van, but then started to leak progressively faster and faster until they were next to useless. If I were to do it again, I would install the Timbrens, which replace the factory bump stops.
https://www.etrailer.com/Best/Dodge/Grand_Caravan/Vehicle_Suspension/Rear_Axle_SuspensionAnyways, with a van, the size of the trailer plays a huge part in how happy you'll be. Our 2000lb trailer was about as large as I'd want to pull with the van. We pulled ours on a mega two week trip from Manitoba into the Rocky Mountains, doing about 3000kms over the course of the trip, and up some pretty steep grades, too. The van never struggled like it might have with a heavier trailer. You have to keep in mind that when you're packing a for a camping weekend, or two weeks, or whatever, you're going to be filling the back of the van with a LOT of stuff. Coolers, clothes, other accessories, all of which add weight, and strain to the engine/transmission. So even though the van CAN pull 3500lbs, if you're going to loading up your entire family and a bunch of gear, I wouldn't. Keep the size of the trailer to a 10' or 12' pop-up, and you'll be just fine.
As far as reliability, we had our van from about 70 000kms up to 105 000kms, and never once did we have a problem with it. Fuel Economy was decent, but not great. These are heavy vans, powered by V6's, after all. Average city economy was about 14L/100kms, and I would see high 8's low 9's when driving on the highway at normal speeds. When towing on the highway, I'd get anywhere from 11L/100km to 13L/100kms, depending on the wind, and whether I had bikes on the roof of the van, or the canoe on the trailer.
Anyways, if you're planning on towing a smaller trailer, 2000 - 2500lbs, then you can do a LOT worse than a minivan. Whether it's a Grand Caravan, a Toyota Sienna, or a Honda Oddysey, they all do the job just fine. You WILL get more for your money (newer van, fewer kms) by going with a Grand Caravan, but a similarly priced Toyota Sienna will still likely be more reliable over the long term, and have a better overall feel of quality (the Grand Caravans are cheap, and feel cheap).