Towing camper with van. What rating hitch should I purchase?

Tow vehicle: 2013 Nissan Quest SV 6 cyl. Max tow capacity: 3500# Torque: 240 ft/lb RV: 2000 Trailmanor 2720 SL Dry weight: 2875# Payload cap: ~1210# Hitch weight: ~392# In the van will be m...