As long as you don't exceed the 5K max you should be fine.
Check your hitch, most 2" receiver hitches are rated for 10K but your motorhome is probably only rated to 5K. The stronger hitch will not increase the amount you can tow, as this is part of the chassis manufacturers Gcvwr. But it will give you a margin for peace of mind that the hitch is more than strong enough to do the job.
2007 Newmar Kountry Star 3914, ISL400
2001 Jeep Cherokee toad, M&G brake/2011 Jeep Grand Cherokee Overland