You shouldn't have any problem. I used to have a Toyota Previa minivan, which had a 4 cylinder and not even a V6, and it pulled my 17-foot Bass Tracker just fine for several years.
Now, the transmission eventually started slipping where it wouldn't pull my boat, BUT I put 275,000 miles on the van before that happened, so I can't really complain. Plus, a van with a V6 will have a better transmission than my Previa so you shouldn't have any worries. I might hesitate to pull a 20-foot fiberglass boat with a minivan, but a Bass Tracker doesn't really have that much tongue weight on the trailer anyway.
One minor adjustment is that it's hard to look behind you and back the boat with a minivan. You will have to learn to back the boat in by using your side mirrors. However, learning to back up with your mirrors is a good skill to have anyway.
Good luck,
bd
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