Is it ok to tow with a 2003 Nissan Frontier?

We have a 2003 Nissan Frontier, XEV6, 4 door, crew cab, with a short bed. The truck is rated to tow 5000 lbs. The TM dealer told us that our truck would pull a 2006, 2720SL, with NO trouble, even in the mountains of Arizona. Is that really the case? The TM would have AC, Awning, Satellite and the Hanging Kitchen Cabinet. Also, if this truck would work for us, what would be the best kind of hitch to get installed as our vehicle does Not currently have a factory installed towing package? We've never towed a trailer before, so we are serious newbies.