Like others mentioned, your Yukon will handle that trailer. The downside will probably be that it may be a lite squirrelly due to the short wheelbase and you will probably not have much power going up any steep or long inclines.
I have a 25' TT that's about 5500 loaded pulled by a 2003 Silverado 1500 extended cab pickup with with a tow package and 3:73 gearing, with WD hitch and sway bar. Pulls and handles just fine. Feels rock solid going down the road. However, long inclines or mountain passes really suck the wind out of it. We always make it to our destination, but it takes patience sometimes. I really wish I had a 3/4 when I'm in those situations! So, a 1/2 ton truck might be a slight upgrade, but the longer wheelbase might be the biggest benefit. FWIW. Good luck!