I'd go HD at that size but part of that is I just like them better - you get more truck for similar money so to me they're a better value.
Hitch weight will likely be closer to 900 lbs loaded. How big is the family? How much stuff do you pack? Do you intend to upsize in the future? Any plans of traveling out west ever? Lots of factors would play into the tow vehicle choice.
Of the current crop personal choices would be an F150 3.5 Ecoboost in a half ton, a F250/350 in a gas HD or a Ram 2500/3500 in a diesel HD.