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

We just recently moved a 35ft trailer with a 2001 Jeep Wrangler, entertaining.
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.

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

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

No and No you do not need WD bars.

No