I tow a JEEP Wrangler (3500 lbs.) with my 35UN Precept. I have same power train as you do and it will handle a lighter toad just fine. Remember, you have a 5000 lb. limit on the coach hitch. If you are in reasonably flat country you will not notice much change in fuel mileage. In fact, you won't notice the toad!! In long hills you will work a little more but your Precept can handle it.
I selected Roadmaster base plates and tow bar with a Blue Ox Patriot brake system. I am very happy with all this equipment. Should you elect to also tow a JEEP, I can offer wiring short-cuts to save time, labor and money.
2015 Jayco Precept 35UN
Towing JEEP TJ with Roadmaster plates and bar w/Blue Ox Patriot brake
an Aluma low bed trailer with HD Road King and/or Polaris RZR onboard