We tow a 33' fiver with a Ford F550. The trailer rides smoothly enough that even on rough county roads we rarely had problems with anything in the trailer bouncing or shaking loose. In fact we have accidentally left stuff on counters, and it stayed put.
But, we did everything we could to smooth the ride.
The truck has a Kelderman Air Ride suspension
, and a Trailer Saver hitch
The fiver has a MorRyd suspension
As for frame damage: the frame on our New Horizons fiver
is one of the heaviest in the industry. I doubt that the frame could be harmed by anything but insane towing even without the Kelderman, Trailer Saver, and MorRyd. Of course a heavy frame has its downside: it is heavy!
The big downside to having a heavier duty truck than necessary is extra fuel consumption to no benefit.
For safety and economy it seems best to have a truck matched to your trailer. Safety was a big concern for us: the truck should have a gross combined vehicle weight rating high enough to handle your rig (including truck) when it is full loaded/fueled and ready to roll.