To the OP - of course it can be done, and done correctly. See my sig for one example. But, as noted before, the biggest issue is not the towing capacity, but the pin weight and overall payload capacity of your truck. No way could I do it with a standard F-150, but with the beefed up option from Ford, everything is comfortably under max. Sure, we will never have an onboard washer and dryer, etc. But as a rig that will work for longer trips (1 month at a crack), it will serve nicely. And I too have done the brake test, and the truck stops everything very well, thank you.
2012 Ford F-150 Eco, Max/Max
Jayco 26.5 RLS, Reese Sidewinder