Hi,
I would not be worried about power with the 360" engine and 3 speed transmission. You probably have 4.10:1 rear axle ratio, so going 55 MPH will mean about 2,900 RPM on the freeway.
My worry is that the rear axle will be overloaded, and you probably have 16.5" rims. Your rear tires probably should be 9.5R16.5E rated around 3,100 pounds. Yet I have not seen the 16.5" tires with E rating in many years. . .
So I would check the curb weight VS the GVWR and rear axle weight rating. I am quite sure that Dodge will not cover any more warranty items, however I would worry about a blown tire due to it having say 3,300 pounds on it when packed for camping, with full water tank, ect.
Towing a boat is probably not a problem, but anything heavy, you will be adding say 400 pounds of hitch weight about 48" behind the rear axle. With a 138" wheelbase, that would place about 500 pounds more on the rear axle, and take around 100 off the front axle. Further overloading the rear tires.
Good luck, and Happy Camping!
Fred