I won't be that guy that jumps on ya about pulling too much with too little. Just be very careful.
My Titan is rated for 9700 lbs and almost 1000 at the hitch. I would never put more than 6500 lbs dry and 700 at the hitch.... By the time I load the truck and trailer with kids, dogs, toys, food, beverages, sleeping gear.... It adds up.
The only thing I would encourage you to do is go to a certified CAT scale and have the whole thing weighed. Front Axle, Rear Axle, Whole Thing, Trailer Axles. You might be surprised.