I am not 100% sure but I think the lowest rated bars for the dual cam hitch is 600 lbs of verticle weight , if your around 3500 # on your trailer it may giver you a slighly harsh ride. My cousin tows his boat with his cherokee , I think his verticle weight is a round 400 lbs. He needed to put air bags in when he had the kids, wife and gear in it. So maybe the bars being slightly on the heavy side given the fact cherokee's doesnt have much or a rear spring to carry the weight may help ?
2001 Holiday Rambler 31' cks 10000 lbs loaded
2006 2500hd duramax/allison crew cab