I went through this exact same issue last year. Coincidentally enough, my trailer weighs the same as yours and the axles were 3500 pounders as well. The driver's side rear tire was scrubbing off badly on the inside. Took it to a trailer and axle shop and they told me the rear axle tube had bent.
Even though the 3500s work in theory, they are working too hard for trailers as heavy as ours. I never overloaded or abused mine but the axle bent anyways.
The suggested solution, and the one I ultimately ended going for, was to replace both axles with heavier duty ones. I believe the axle beam is 2 5/8" on the 3500lb and I went up to a 3" beam which is for the 5 or 6K axle. That thickness of beam generally comes with 6 bolt hubs but since I didn't want to buy new wheels they affixed brand new 5 bolt hubs and brakes to them for me. Now I don't have to worry about it happening again, which I believe would have had I just done a direct replacement.
My leaf springs were never laid out flat like yours are though. That makes me wonder if there is something else going on.
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2013 F-150 EcoBoost MaxTow, Roush tuned (415hp 506tq), lifted on 33s, R.A.S.
2013 Jay Flight 28BHS Elite (Equalizer 10K hitch)
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