In my opinion, if your tow rating is 5720, you should be fine. There are a ton of other parameters to think about, and a quick search should turn up a ton of information, but over 5000# tow rated vehicles should have no issue towing a 2720SL. I manage with a tow rating of 3500#. It's controversial, to be sure, but I feel comfortable with how I pack and what I'm doing (yes, I've been weighed
). Some of the thoughts have to do with where you're going -- mountains have a very different requirement than the midwest plains -- so others can chime in on that. But, as long as you have a brake controller installed, and think about/evaluate the need for WDH, you should probably be fine.
Welcome!