No one tows an empty/dry weight RV. Well, maybe the first owner home from the dealer. That will be closer to 6500-7000 pounds loaded with 900 pounds of TW when loaded with a long weekend's gear. Food, pots/pans, clothes, toys, towels, chairs, coolers, etc. It all adds up.
Payload and receiver limits are the problem for all half ton SUVs. And there are very few 3/4 ton SUVs available. I would go for it. Flush all the fluids. Get a WDH with integrated sway control and disable the air suspension bags if possible. Then you'll know what should be upgraded for the next tow vehicle.