We did an West - East crossing in 2012 with the mates D4d Hilux towing my camel Discovery. ( not in your quoted weight range)
Others in the group included an AORC & a KK. We had no major issues with the D4D.
Worst thing was the pitiful std fuel tank on them !
We purposely did a slow crossing- 5 nights in there! Damn cold that trip too!
we had 2 x 20lt & 1 x 10 lt jerry cans.
Drove into Birdsville with the trip computer down to single numbers!