OK, gentle. Some folks do it but I wouldn't tow anything larger than the smallest rpod with a 3500 lb tow vehicle, if that.
Look at the gross weight of the trailer, not the empty weight. Empty weight is very misleading as it doesn't include any options, batteries, or water in the water heater or tanks. Not to mention supplies, clothing, tools etc. Typically folks are closer to max trailer weight than empty weight, and if you boon dock you will probably need to work at it not to exceed MTW.
Then also consider that a tongue weight of 10% or total trailer weight is the very least you should have to minimize sway risk, and note that you can't keep the tongue weight at 10% all the time, it will vary based on loading.
Also, the 3500 lb tow rating is misleading as well as manufacturers assume nothing is in the tow vehicle when they establish that rating. Consider what you will really have in the tow vehicle, cargo and passengers, assume the trailer is at MTW, and leave some safety margin beyond that so you're not pushing the max limits of your rig.
That in practice means a 5000 lbs/500 tongue tow vehicle minimum for all but the smallest, lightest loaded rPod, maybe. Why not get an adequate tow vehicle so you can get the trailer you want and have room to take some gear and passengers with you? BTW, you will not get better fuel economy towing with the smaller TV.