Your question depends on a lot of personal factors IMO. Are you looking at mostly towing to a location and leaving it there for an extended period, or are you moving the trailer/towing it around a lot? How much "stuff" do you want to keep.
Personally, I'd be ok towing a heavier trailer (5-6000 lbs) w/ a Frontier if it was only short periods and once in a while. The min I could see myself living in with another person is probably 30' w/ a slideout, though, so the Frontier is irrelevant, because that will be well over 6000 lbs.
Good luck!
