I'll add an update to my above comments about towing with my '06 Frontier. Recently due to some other issues around the barn with tow vehicles, my Frontier has been pressed into service also towing my horse trailer.
Two horse bumper pull, with one horse in it is usually around 5000 pounds. I set up the Blue Ox WD hitch on it. I've been pulling this trailer quite a bit with it. Very pleasantly surprised at how well it works.
Literally, I would pull this trailer loaded this way, anywhere. Have not scaled it yet, but having scaled it with the travel trailer, I expect to be still under the rear axle rating and very close to payload numbers. I'll report back once I get the chance to run it over the scales.
So, to the original poster, if you're still here, do a careful and correct set up of a good WD hitch, and go enjoy your camping.