I think "safely tow it" is really more relevant to the driver than the TM. Since the TM is low-profile, there is much less wind influence, either headwind or crosswind. That would be my biggest concern when towing with a 3500 lb-rating vehicle.
My 2001 Grand Cherokee, which was smaller and lighter than the 2007 I now have, towed it safely. I have a Prodigy trailer-brake controller, and a leveling hitch, and it was very stable. I went up and down hills with no problem. I downshift on steep downhills, but really didn't feel like I was being pushed by the trailer.
Personally, if you drive with the awareness of a trailer behind you, I don't think you would be unsafe. Certainly no issue with wind-whip from semis, so it is really more up to how you drive around curves and control your speed when going down long grades.
The transmission should be fine, also, since the trailer is light. Take it out of Overdrive when going uphill, so it doesn't have to shift into passing gear, as that will help. But, you may want to talk to the service department of your Honda dealer, to see what they have seen in their shop.
Good luck!
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