Safely, yes. Provided your Yukon is well maintained, has good tires and brakes, the trailer is well maintained, has good tires and brakes, the WD system is properly setup and rated to support the actual weight of the trailer.
It will not, however, be within the weight ratings of the Yukon if that is important to you. You will exceed one or more of the ratings of the Yukon, be that axle, GVWR, GCWR or receiver hitch rating.
Dry weight means empty trailer, nothing in it or on it. That means no propane or batteries, no water, nothing. Possibly not even an air conditioner or other optional equipment. Time all is said and done you will end up adding at least 1000-1500lbs to the weight of the trailer by the time you fill everything up and pack for camping.
Most importantly you will probably not be happy with the performance and handling. It will be slow and sluggish compared to the tow vehicle by itself.