Needed ?? Maybe. Check the sticker on the Frontier receiver hitch to see what the weight carrying vs. weight distributing stats are.
A good idea ?? Probably. Even though the dry tongue weight is around 383 lbs., loaded for camping that could be significantly more. That may make the back end of the Frontier squat, and the front end raise, with not very good driving characteristics.
I used a WDH with my Trailmanor and my F150 even though the tongue weight was onlyi 500 lbs.
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Chap , DW Joy, and Fur Baby Sango
2017 F350 Lariat CCSB, SRW, 4x4, 6.7 PS
2017 Grand Design Reflection 337RLS
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