I've done ALOT of miles with and without WDH bars installed in my 1 ton with trailers from 4000 - to 10,000 lbs. Yup no doubt your truck CAN do it but the bars will make it that much of a smoother rider. Takes me 10 minutes to hook up including the bars. Not like you are saving time but not using them.
1990 Jayco 250 Special
2008 Ram 5500 DRW 6.7, Cummins, Aisin auto
Holland/Binkley 5th wheel, Reese Dual Cam, and more
232,500 kms in 2013
200,000 kms in 2014
160,000 kms in 2015