OP its a good thing you did decide to go Flat Tow because you are limited on your Tow weight anyway. According to the brochure you have 4k lbs of towing: GVWR is 26000 and GCWR is 30000. So even if you aren't full loaded you may be able to get away with 5k lbs.
the Jeep, Stock weighs 4300lbs and you have done upgrades and added larger tires and maybe a lift and upgraded suspension and possibly bumpers and hi lift jack and other stuff for real off road use. You are most likely around 5k lbs.
I would weigh the MH loaded as you normally travel and weigh the Jeep the way you normally have it set up for travel and see where you are at.
I know that your hitch is rated for 10k but the book states 30klbs MAX.