I used to have a 29 foot 1995 Tioga Class C on the E350 chassis, with the 460 V8.
I towed a Jeep Wrangler Rubicon Unlimited behind it, no problems. We went over the Continental Divide several times.
I did, however, have a local well-qualified welder reinforce the 3500 lb. hitch. He also inspected the frame extensions and pronounced them perfectly adequate. I guess he was right, because nothing bent and nothing broke.
No, I have no idea what that slightly modified Jeep weighed.
Disclaimer: This is a statement of what I have done; no more, no less. It is not intended as a recommendation for anyone else to follow. It is merely saying "This is what I have successfully done."