Well...54 views and no posts, so I'll give it a shot to get it started.
In a word, yes. I have the same chassis and have towed a built TJ that weighed in at about 4500, a '08 Scion XB - about 3200, a Grady White 208 sport fisher on a 28' aluminum trailer that was also about 4500, and a 2013 Subaru XV Crosstrek - about 3200. No problems or issues with any of them. I prefer at or about 3K lbs for a toad. Anymore and it's kind of a drag on performance. I still drive about 60-65 towing. OD locked out for all but level running. Mountain passes are 45-50 in third gear - passing all the semi's. LOL.
I would encourage you to weigh your coach fully loaded, front axle, rear, and both, to give you an idea of how close you are to GVW. My 31 footer comes in at about 17.5K which is some 3K lbs to spare, so our toad just brings us to GVW capacity and 5K under the GVCW. Performance is good, stopping is no problem, but get a brake unit for emergency/panic stops and for breakaway protection. I use a BrakeBuddy. Gas mileage completely sucks - about 7.5 towing. LOL.
I am quite surprised they didn't use the W22 for the longer coach like most of the other manufacturers did. Still, 20,700 GVW cap should be fine for it.
The other plus for getting a over-the-road overall weight is for setting tire pressures. Will give you best handling and ride. I also added a rear tracbar which helps with yaw/wander with a toad. Easy upgrade for the workhorse chassis. Oh, and either tran-syn or torque-drive synthetic ATF.
You might post this on the workhorse chassis threads for more input - the experts there may not find you here. (EDIT: oops...I see we're already there...wonder why no one replied for you. Oh well, you're good to go!)
Take some pics and show us your setup. Here's mine...