Hi Tracey,
Just done the same thing. We love camping but are partial to comfort and warmth so we upgraded from our trusty old Foling Camper and got a Caravan. No regrets so far.
Now is as good a time as any to buy. We looked at dealers to get a feel for what we wanted and decided a 5 berth with a rear dinette that converts to a bunk suited us best.
However, everything we looked at at the dealers was either tired looking or out of our budget. In the end we bought a really nice van from someone 2 miles from us (private sale). They were giving up caravanning so it came with all the essentials too!
With regard to towing check this website when you spot a caravan that you like:
http://www.whattowcar.com/basic_index.php
I doubt the Lucida is listed as it is an import - but I think it is the same as a Previa? I'm sure someone on a Toyota Forum will know the unladen weight of your car though.
Good luck with the search
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