Many full size 1/2 ton trucks have a receiver hitch rated to just 500 lbs, with no WDH. Your Pathfinder hitch should be labeled, as to wt, with and without WDH. Another # you need to look at is the payload sticker on your door jam. It is the tire loading sticker that says weight of all occupants, gear, yes hitch wt, etc shall not exceed XXXX.
I think you will need a WDH, with sway control. You need to weigh your vehicle camp ready, people, pets, gear, and full fuel, and subtract that number from Pathfinders GVWR. Do you have enough left for the tongue wt of a 5K loaded trailer at 12-13 percent? It may be about 650 lbs, plus near another 100#s for WDH.
Last thought, the 6K tow capacity does not refer to a high walled TT, which can make the tail wag the dog, especially with no WDH/sway control.
Jerry
