I'm towing a Jayco X17C with my 4.0L V6 Frontier. UVW is about 3,000#; TW is about 475#; GVWR is 3,500#. TT is single-axle. While I'm not setting any speed records, my combo does well. I can maintain 60-65 MPH; at times RPMs are 3,500 or so going up a grade. I'm using the E2 hitch (Equalizer's cheaper cousin) and don't have any problems with sway.
I think you'll be OK. You'll need to be careful about how much you put in the bed of the truck or you might exceed the GVWR of the truck. You have a few hundred more pounds of CCC on your trailer than I do. We pack light and don't carry water, so we've not had any problems.
Good luck & enjoy!