What are the specifications for the Tahoe?
If it has the 5.3L engine and a 3.73 axle ratio (look for GT4 on the list of codes on the inside of the glove compartment lid), you will be okay as long as the truck is well maintained and has good tires.
Remember that the 4100lbs number is the EMPTY trailer. You will be adding approximately 1000+lbs to the trailer by the time you hit the road so it will be in the 5200-5500lb range. Plus the five passengers will be eating into the payload capacity of your Tahoe.
You're going to have around 700lbs of tongue weight from the trailer, which will leave you 500-600lbs of payload capacity for everything/everyone else in the Tahoe.
It'll be right on the edge of "comfortable" but perfectly safe if, again, the truck is in good shape, well maintained, and has good tires. This all goes out the window if you're talking about a rusty old claptrap.