No issues for me towing with an LR4. Trailer is just under 30' and about 6000-6200 lbs loaded. I have been thinking about getting a hensley type hitch, but really haven't had sway/control issues. The LR4 does have the trailer stability assist package and testing it out, it managed to keep things under control pretty well.
I use the Milenco Grand Aero mirrors as well and they work just fine and have quite a bit of adjustment available.
The Prodigy P3 brake controller was a perfect add on as we'll, just plug and play.
Having the backup camera and air suspension it makes it real easy to hook up. Lower the suspension, back under the hitch and raise it back up again. ;)
Love the LR4 and enjoy towing with it. Plus you've got a great off road vehicle when you get the campsite.