Here is a thread with the same question.
Does your inted TT - StarCraft 16RB have the fold out bed in the back? If so, it is the exact TT my in-laws pulled with their minivan - see my post on page 2 of that thread.
Your tongue weight will be north of 400 lbs. Your hitch will drag the ground. Your minivan is not a good tow vehicle - it's a grocery getter with soft tires and suspension that can seat lots of people comfortably.
Go ahead and try it - just schedule some time to wind down after arriving at your destination.
And if you go through with it, be sure to maintain the caulking around the door. My FIL's Starcraft leaked around the door un-noticed and made mush out of the floor.
Consider towing with a more substantial vehicle. Good luck to you.