CA to NH in an Pathfinder

May wife, 9 month old son, dog and I are traveling from CA to NH in late September. We are looking at the TM 2619 for the trip. Our preferred route would take us through the heart of the rockies. The 5000# towing capacity leads me to believe that I am okay with the 2619 but I want to make sure. Has anyone used this configuration or have experienced input? This is my first RV and first trip...I can use all the input I can get.

Thanks
Tom