I've been renting towable manlifts from Home Depot for quite a few years no. They had a Genie that I really liked, but now they have a JLG, that I don't care for. It's all in the controls, and Genie was night and day easier to operate. Just more natural feeling to me.
I have a 2wd F150 that I pull them around with. I've never had a client complain or even hesitate when I tell them that if I do the job, they are paying for the rental of the lift, and I'm driving all over their yard with my truck to get it into position. So far, I've never had an issue on a job.
I've also rented them a few times to do stuff around my place. The last time, I had a pine tree break off from some strong winds. The top third or so broke and landed on my fence. I had to redo the fence after removing it. The location of the tree, and the length of it meant that I had a very small, impossibly small, area to drop it without damaging my house, my fence, my pool or my hot tub gazebo. It was just too small to risk it, so I rented the left and took off the top 30 feet of the tree, and then dropped it on my back yard lawn.
In order to get to where I could get to the tree, I had to deal with a low area that swallowed my trucks rear tires. They where buried. I used my 4wd 35hp Century tractor, which is now called Branson, to pull my truck and the towable lift out. I just put it in a low gear and had my truck in Neutral. It all pulled out very easily.
Given that I could pull both my truck and the boom lift with a 35hp 4WD tractor, I think that you should be able to handle just the lift with something even smaller. 4WD for sure, but probably 30hp or even a bit less. It really depends on what you want to spend, and what else you will use it for. I also use my tractor for bush hogging my land with a 6 foot rotary cutter and drilling 12 inch post holes. I do not have a loader on it, I have a backhoe for that. I wouldn't want any less HP for the 6 foot cutter, and more HP would really be nice, but for the post hole driller, I have plenty of power. I also pull a 300 gallon tote on a trailer behind it twice a year to spray my fences and roads. I put about 200 gallons in it, and the weight is there, but easily handled.