We were kinda in your situation before we retired. We sold our 28’ sailboat and thought that we could travel with a camper. So, we got a pop up for about 2k. First trip was to Hunting Island and we loved it. Went all over the southeast and all the beach state parks. 3 years later, we had a 23’ Trail Lite we pulled with a Nissan Frontier and we were retired.
I basically matched the trailer with the truck. The gross weight of the trailer was 6k, same as the truck’s max tow weight. The most it ever weighed was 4500 pounds with a tongue weight of about 520. With our newer camper, I did the same, because I had no desire to change trucks.
We have gone cross country twice for about 6 weeks each time and bunches of two week trips. Your Canyon should be fine, as long as you stay within its specs.
I kept a notebook of all the campers we looked at and of ones I found online that matched our criteria. We went to every dealer within a 200 mile radius and walked through a bunch of campers. It took almost a year to find the Trail Lite and that was on Craigslist.
Definitely take your time and enjoy the search.