4200# dry is more like 4700# as shipped after options are added in. Then add your "stuff". Your real towing weight is what you need to be considering. When all is said and done your ready to camp weight will be closer to the GVWR of 6000 than it will the dry weight.
Trouble with judging what your truck can tow is that we don't know enough about it. There are 8 different configurations of that truck available, each with different rated capacities. Add to this 4 different available towing package configurations and 4x4 vs 2x4. Depending on which you have your towing capacity could be anywhere from 6400# to 6800#.
. It's 2016, but you can easily find one for 2015 if need be.
That said I think no matter what you'll be OK, however the closer you get to the max capacities the less pleasant the towing experience. That's true no matter what you tow with. Been there, done that.