IMO, it would be nice to have a FW hitch for ease of hitching. The single point attaching Companion is rated for 20K, which you will exceed. Yes, the hitch is heavy to handle for one person, and a bit of a pain putting in/taking out, on a regular basis.
You don't mention what truck, but sounds like you may be near limits there also. I'm thinking only you can decide, what you are comfortable with, when approaching limits, or maybe just over limit of hitch.
Jerry