I would have preferred an SUV with our two large dogs, but they just don't make Excursions any more. We got a Ram 2500 Megacab, and it gives us plenty of room with the seat down, and room for three full sized adults with the seat up, with storage space behing the seat. Put a cap or tonneau cover on the back and you have plenty of storage. The weights of my trailer are close to the OP's, and I am not in the least worried about towing issues.
And since regular gas is $2.55 locally and diesel is $2.52, I'm feeling pretty smug about the choice of a diesel right now. Of course, I'm always happy about it when we tow in the mountains regardless of the price of diesel.