Pulled a couple of things from what you've described:
Tow vehicle - Check
No too proud to know a WD hitch is a good idea even with a modern capable vehicle - Check
Seeing no reason to be dependent on a sales person's opinions - Check
Planning ahead for possible additional weight - Check
You sound like the kind of guy I like.
Still a couple of requirements/future actions to think about:
RV storage requirements (where will it be parked when not being used)? Size could be a factor with this.
How long will your trips be on average? Typical weekend 3-4 day vacations or longer excursions? Size could be a factor with this.
Do the places you plan to visit have navigation challenges when you arrive and it's dark outside? Size could be a factor with this.
Are you ready to take on the inconveniences of dealing with an RV on a regular basis? This includes spending money and/or time to fix stuff. Size could be a factor with this - not RV size but the size of your patience and peace of mind.