I went through this myself. WE had a 2011 F-250 6.2L gasser. Fully loaded for camping with the 5th wheel hitch in the bed and my wife and I on board we weighed 7720 leaving us 2280 for the pin weight. After weighing that we were only a couple hundred pounds under the 10K GVWR. No margin for error.
The solution? 2013 F-350 diesel dully 14K GVWR. The difference in towing was night and day!
2013 F-350 Diesel Dually, 6.7L with 3.73 rear with 50 gallon Transfer Flow aux fuel tank, ScanGauge II, Tire Minder on all 10 tires, 2M ham radio, and the ever popular CB.
2014 Surveyor SVF-293RLTS
2014 Clipper 16FB