Considering there are at least a few Prius owners who can get around 50% above EPA or more, it seems within the realm of possibility for a hypermiling pro (which I am definitely not) to accomplish in the Highlander. I never drive the majority of a tank in my wife's Prius. I once got it to almost 40% above highway EPA on a long trip with no kids and no AC, but never close to that around town. The Highlander seems to do much better around town than on the highway for me anyway.
Ya, I'm sure it doesn't do as well on the highway because it is much less aerodynamic than the Prius. (at least part of the issue)