When you get into a borderline situation, like this one, if it feels good and you're comfortable driving it, go for it.
If it seems like it's struggling and you feel stressed at how it's performing, then think about an upgrade.
Drivers are drivers, and often feel differently about how a truck tows, and how fast and what bothers the driver.
No, we can't tow 15,000 lb fivers with an S-10, or a Ranger, but we can find and tow a trailer with a smaller truck and engine as long as we feel comfortable as a driver... Do your homework, drive it, see how YOU feel, not Harry, of Joe, or Martha - how YOU feel about control and braking - then decide.