Can 19 Silverado 1500 pull 23rslw jayco with just a ball

You should be commended for wanting to protect your family as much as possible. It is wise to err on the side of caution rather than taking the let her rip attitude.
Just plan ahead with the traffic and keep your speed down. Camping is a wonderful pastime and enhances family life. You will learn to relax as you gain more experience. Good luck in your travels and Remember getting there is part of the adventure.