I towed for over 8,000 miles with my wagon and was surely overloaded (GVWR, RAWR, no GCWR listed but that too probably) and white knuckles experiences were very rare once the hitch was set-up properly (dual cam). Most of the time it towed great, even on winding mountain roads. It is a 26' trailer. My wheelbase was much shorter than your trucks as well. You're within all your ratings (best as I an tell without you weighing the whole thing) and I'm sure you'll be fine. Regardless of how well my wagon towed, I'm glad I eventually figured out my situation and have since upgraded my tow vehicle (you can learn a lot at the scales).
Just make sure you have a good weight distribution hitch with integrated sway control (my opinion) and it is properly set-up. Make sure you have proper tongue weight (10% min., 13-15% preferred) as well. Many people find benefit in better tires (LT for trucks) and aired up to handle the extra weight.