My Pal bought a 21' Riverwild, dual axle, 4000 ish pound setup with the same tow vehilce you are speaking of. All it took was a drive from here to Eugene and up for sale went the Jeep.
I am sure the boat is within the CGWR, but you can check in your owners manual.
BTW, trailer brakes are required on that trailer, so I assume it has brakes, per the other thread question?