Tow rating is fine. It is starting to be a capacity thing with payload of the Tundra and trailer.
Tundra = 1600
RZR, 1 dirt bike, gas, propane, water tank, some gear, food, firewood. You are there faster than I thought as I just finished short spread sheet on it. Do-able but at the max unless I am doing somehting wrong.
I regularly tow a toyhauler with a half ton truck. More specifically I tow a Ragen 2008 FK2100 xtra-lite that is listed as s 21'er. According to the weight sticker in the cabinet, it is just shy of 6,000 dry. Since the listed weight is not a rounded off number, I am assuming they actually weighted it at the factory.
I tow this rig with a 2007 Toyota Tundra Crew Max 4X4 with the 5.7L V8 and 6 speed auto.
I do have a Reese dual cam HP towing system with the built in anti sway.
The truck tows this rig very very well. I get now sway or ill handling.
Pulling grades is a piece of cake. I've yanked this trailer to Bridgeport, Ca over the grades on the 395, up and over Onyx Summit to Lake Isabella, Cajon Pass both directions, the Grapevine both directions, to Bass Lake, Ca, etc.
Weights have varied depending on the trip. But on trips to Dumont Dunes, I estimate the trailer weight at about 9,000lbs. The contents include a Rhino, Quad, 100 gallons of fresh water, 40 gallons of Gas, plus the normal other stuff typically necessary to dry camp for a number of days.
The truck has not met a grade that maintaining at least 55mph was any noticable strain on the drivetrain. 3rd gear at 3200-3500 rpm up the grades at 55-60mph have only required about 1/3rd throttle.
Good luck with your choice of trailer and tow vehicle. If you make the right choices with the correct safety gear, a 1/2 ton is a good choice (assuming the trailer you choose is to large or heavy).