Wow those new Cirrus campers are sweet looking! Nice choice in truck and camper!
Couple things.
Reported dry weight is 2900 lbs. if that’s true you will be well over the 3200lbs you said wet and full ready to camp. More like 4000lbs. Report was dry weight with no options. But non issue with your truck.
Wait on the extension until you have it loaddd up. I’d bet money you don’t need anywhere near a 34”. The back bumper looks pretty long but there’s no vertical overhang lower than the truck bed. With that you do not need the hitch to protrude out past the back of the bumper. How short depends on the trailer you’re towing tongue length, amount of drop in the hitch, how much articulation you need, etc.
With a 3” receiver and rough weight of your trailer I wouldn’t think twice about hauling it on a straight bar extension 2’ long or so. Use a 3” bar or heavy wall tubing and throw the adapters in the garbage or only use them when necessary. Hitch adapters are a terrible idea for heavy or regular towing duty.
