The owner's manual for my 2002 Tahoe states the Gross Combined Weight Rating (GCWR) and maximum weights for individual axles (maybe on the door).
Last summer I overloaded my rear axle, yet I was under the towing maximum. It is also easy to overload the TM itself. It comes down to how you pack, and keeping the wife happy. Don't forget, passengers add to the GCWR too!
You can do it with your S10, just keep packing in mind.
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