You need to understand, that pin weight is for a stripped down bare bones RV, no options, propane, batteries, anything in the holding tanks, and not even a paper plate.
It's amazing how quick cargo weight can increase and you have a big family which will mean lots of stuff to bring. More than likely that RV shipped a few hundred to even a thousand pounds heavier than that brochure weight, thus the reason for using the max gross weight number, and even that number gets exceeded easily.
The final decision is on your shoulders.