You can get a better idea about the viability of towing that camper by finding the dry weight of the camper and then the towing capacity of the vehicle, assuming you will only tow the camper empty and the vehicle as lightly loaded as practicable as I am sure you will be close if not over your tow capacity. That info should be able to be found on the camper and on the tow vehicle. Also, you would want to know the tongue weight of the camper vs the capacity of the tow vehicle.
There are many variables at play here, as even the same model vehicle with different configurations have vastly different tow and cargo capacities, and not all same model campers weigh the same. You can get a better handle on what the tow capacity is vs the weight of the camper so you can make a better decision, all taking into account how many miles and at what speeds you want to tow (if you are truly making one trip during a very low traffic time of day that can affect your decision for example.). Further, the use of an anti-sway and weight distribution hitch as well as trailer brakes goes a LONG way towards making the tow much safer.
With all due respect, again, towing that big, presumably heavy trailer without anti-sway and trailer brakes was incredibly unsafe and irresponsible as you were not only endangering yourselves but also everyone around you. THAT much can be stated unequivocally. Whether you can add a WDH, trailer brakes and anti-sway, all absolutely necessary, and still tow safely isn't possible to determine with the limited amount of information you have provided.
Good luck to you.