Jayco dry weight is 460LBS
https://www.jayco.com/products/trave...ht-slx/212qbw/
My apple... or Orange is a 2014 F-150 lifted with a 19' Starcraft Extreme (similar to Baja) single axle but close weights.
F-150s have a broad towing range depending on configuration but the 212QBW should easily fit within that range. Check the ford site and inside your door frame for your more specific towing specs. A weight distribution hitch would make for a good choice in your planning as well.
Sweet looking Jayco!! Hope it works out!