I'm a Toyota Master Tech and just finished a two day intensive training course on the Highlander HV which is essentially the exact same vehicle.Minus of course,the expensive name tag Happy

Yes,it will get that mileage if you can manage to keep your foot out of the throttle.It has a 0-60 time of just over 7sec(4WD)and puts the performance of the standard V6 Highlander to shame.

I work on them,if I could afford it,I'd buy one.