I pull a 2017 Jeep Cherokee Trailhawk (4200 lbs) with a 2006 2500 Sprinter. Works well for us. Would expect 3500 to be even better.
We did a cross country, 9000 miles including Canadian and US Rockies. The diesel will behave like the big trucks, losing speed on long grades. Once you get used to that it's ok. Mileage went from 22+ without toad to 17+ with toad, 16+ in mountains.
The Trailhawk series was needed to get a transfer case that has Neutral for towing. Also needs a special wiring harness that energizes power steering while towing, to eliminate death wobble. I use Demco Stay N Play braking system. It was big improvement over the Brake Buddy I used on first toad (Subaru Forester). I use a Roadmaster Sterling towbar. I have threads up on the toad setup. I needed a hitch adapter to level the towbar with the higher Jeep.
PM if you have any questions.
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