Looking at TM, question about my tow rig.

I am looking at a 1999 TM 3124 King (KB?). My tow rig is a 2003 Chevrolet S10 LS 4WD Crew Cab. It has a 4.3L V6, 4L60E 4-speed AT, and 3.42 rear axle. GM lists a maximum trailer weight of 5,200 lbs. (2,361 kg) and GCWR of 9,500 lbs. (4,309 kg). Camping will be my wife and I, and our two small daughters plus our camping gear, etc. Should we be OK to tow this camper with our truck?

Russ