I've been towing a 22' #5000 loaded weight trailer with F150's for going on 16 years now..
Using a standard Eaz-Lift round bar setup with #1000 bars. Been working great all these years.
First truck was a 97 F150 with a #6250 GVWR.
Second truck is the 13 F150 in my sig.
But towing is subjective at best, so really what works for one person, won't work for another and visa versa..
I'd use a basic WD hitch at the minimum.. But, from there, you can go for as much or as little as you feel will work best for you.
Good luck!
Mitch