Is my Toyota Highlander worthy?

I just purchased a 2000 2720sl. After reading the forums, especially about the awning and air conditioner not being included in the total weight. I figured I had better double check everything. I am towing the tm with a 2007 toyota highlander v6 with a transmission cooler. toyota said that my total combined weight with a trailer is 7985 lbs. From advisement from this forum I loaded the tm,my car,filled the gas tank and and had it weighed at the scales with me, jane and the dog. The total weight was 7210 lbs. That is without water in the tm.
On paper it sounds like I have 700 lbs leadway. I have read about mountains,that I know will create a problem but generally do you experts feel that I will be ok. Don't want to mention any names but would expecially like advise from someone who's name rhymes with freon. from saxet. thanks Ken