Half-ton toad

I've been seriously looking at the Fleetwood Pace Arrow 35e DP. It has a 340 hp Cummins engine. This will be our first motorhome. I figured as long as I can tow a half-ton truck, and put all of our bikes in the back (6 of them), some firewood, etc. in the back of the truck, then I won't miss our 5th wheel toy hauler. Then I started thinking about towing capacity. I was surprised to see that it says it's rated for 5,000 lbs towing. The only half-ton that fits that description is an aluminum body F150. Do any of you tow a half-ton truck with that size engine? What is your experience? Do you ever tow slightly more than your DP is rated for? I know that the rating is not a suggestion, but certainly there is a range of capability. Thanks for your experience and thoughts.