It's not that number. Those are the numbers that OEMs fight over for marketing purpose and the only one the dealer cares about to make the sale.
Whats the gross on the truck? Fill it fuel, and the 4 of you, go get on scale. Subtract from gross to see what cargo or carrying capacity you have left. Then subtract weight of hitch receiver and tongue weight. Thats what you can have left to put in the truck to haul. Its not a legal number but I will tell you from experiemce that if you are close on cargo with a 1/2 ton, you must check your axles to ensure your not exceeding gross axle or the individual wheel capacity. Those 2 are legal numbers and will put you behind bars for many years if you cause an accident and someone is injured or killed. If you get stopped for a traffic violation, then only if they bust out the scales.
I am 97.265% sure your numbers will be fine, but you will dictate the final handling by how you load the trailer and/or truck bed. This is a combo you see often on the road but it wears out parts faster and with an incorrect WDH setup, a white knuckle, butt hole puckering experience.
This is where the 80/20 rule comes into play. Yes, most things will be able to exceed the numbers that are approved by OEM without issue, as they build in margin too. But, if you are at or over capcity for "x" amount of time, it wears out. This is the reliability testing portion that can't be recreated......time.
Leave the atv at home with the camper hooked unless just going to your uncles or somewhere like 15mins close. Even then I'd want a helper spring or bags installed.
Keep tongue weight 10-13% of total trailer weight, and even or nose down, never nose up. I will say it will come down to personal choice after you tow it a dozen times or a year or 2, for a few hours each way. Highway push/pull at 65-70 is a lot different then controlled accents and decent in the hills. Should be able to tweak the suspension setup to your liking too if not interested in a 3/4 ton.