DRW. Easy decision. You've already stated the camper and gear will be 3,500. Your Jeep on a trailer at 6,000 pounds will likely have at least 600 pounds of tongue weight. That's 4,100 pounds without adding any truck accessories, passengers, pets, or gear to the truck. I assume you'll be adding some or all of those things which will put you over the rated payload of the SRW.
I've carried a 4,000 pound TC while pulling a 4,500 pound boat with both a SRW and a dually Chevy. The dually had way less bounce and sway. It just feels so much more stable and solid than the SRW.
A dually really isn't that much extra "hassle". I've been driving mine for 12 years. I use bank and restaurant drive thrus on a regular basis. Your camper is 8' wide so you aren't any wider when hauling the camper than you would be with it on a SRW anyway. Yes, you have to buy 6 tires instead of 4 but that only happens once every couple of years. Where I buy my tires they rotate them for free every 5,000 miles so I don't even have to do that.