I have owned more than a few trucks in my day. Sold my K2500 Suburban with a 496ci, 8.1L when I bought my Prius as I just didn't drive it anymore. That was when gas prices were around $4.00 a gallon.
Someone took this photo years ago at Lake Sonoma and posted it on the web. I get more looks than you could believe towing, along with photos while driving. Yesterday my partner heard "I gotta watch this Prius recover their boat". Fortunately we were very smooth and the trailer was in the water for less than a minute (Yes I used my trailer for recovering as it was fresh water and I was lazy). Also get great fuel economy and I would gladly take a bet I could out stop said F150 any day of the week! (I have ZR rated tires on my little car from a Scion FZR. I have had Scion TC tire/wheels in the past.) It comes down to weight vs traction. I win hands down!
I am cautious though and will not go over the vehicle limits. It has lived a hard life for the last 140K, and although an SR4 is only 200lbs heavier or so, that is getting to be a little too much. Our Prius C is strictly used for diving when we don't have the boat along. Many of my dive buddies have tow vehicles though so we can often just use their vehicles.