Of all the half ton trucks that I think would come close to handling a truck camper, the Tundra comes closer than any. Having said that, the 550 shows to have a dry weight of 1600 lbs. Do you know what the payload of your Tundra is? I was at the local Toyota dealership recently and looked at one, just because I was there with another vehicle and had nothing to do, and I recall the Tundra having a payload of 1850 lbs +/-.
By the time the Palomino is loaded, truck loaded, passengers loaded, and a boat trailer tongue weight added, I'm betting your truck will be well over its payload.
Can the Trunda handle it? Probably for short trips with significant modifications such as heavy shocks, sway bar, and overload springs or air bags. Would I attempt a long trip? probably not.
Will the dealer say it will work? Of course, they always do. Forgive me for sounding like the weight police,....I stay away from that roll, but by the time the Tundra is loaded for a trip, I'm betting that it will be well over the listed payload by hundreds of pounds.
But like ZZTop said; ".....I could be mistaken."
After the truck is loaded for a trip, stop by a scale. At least you will know what you have.
2016 Ford F-350 Lariat CC, 4x4 SRW. B&W turnover with extender. 2015 CC Silverback 29RE, fitted with Reese Goose Box. Amateur Extra Class K5TS, 2016 nights camped 16