Do I need my WD bars just to move in the driveway?

No

No and No you do not need WD bars.

If your only moving it around to position there should be no need

Keep it under 30 mph and you should be fine ;)

So generally it's 5000/500 where 500 pound tongue weight is the more important number for a travel trailer. You're probably over by 2-300 pounds but so long as you don't drop the trailer into a ditch you're not going to experience dynamic forces anywhere near what the engineering spec is designed for and so you'll be fine. The engineers speced that 500 pound limit for a trailer hitting a large pothole at highway speeds.

We just recently moved a 35ft trailer with a 2001 Jeep Wrangler, entertaining.
You should be fine.

Those ratings are based on dynamic loads but the ratings are based on static loads.

Hit a pothole at 60mph and the dynamic loads are far greater than hitting the same pothole at 5mph.

Of course, it's hard to explain the dynamic loads so they give a rating based on static loads.

And...without WD bars, it will be easier to make tight twists and turns while backing into tight spots. After awhile, you can start collecting style points --for perfectly aligning your TT with driveway's edge. Geometric perfection is a sweet sight.

I pulled a 10k car hauler with a 7640 lb tall blue tractor with a cab for a couple of years before Barney (mod) talked me into getting a Husky Centerline TS hitch/1200 lb bars for this combo. Boy was he right.
I can go forward or backward with the Husky WD hitch just as sharp as I did before (till the rear bumper contacts the trailer).

Your truck will be fine moving in around the rv park/campground/yard or a few miles down the road.

A LOT easier to keep a drop or lift basic ball mount for other towing and around the yard RV moving. A lot less weight to jockey around compared to the WDH head unit.
No probs at your listed weights.