Are you SURE you will not exceed the CGWR?? I am not as familiar with the Thor line as I am a new member of the Thor family, but I would be amazed that a 29 ft gasser had the capacity to tow 5,800 pounds safely!! I had a larger gasser on the F-53 chassis some years ago that did not allow that, so maybe the smaller one has more weight for towing. Good luck, but I would double check just to be safe!
PS I am not near my RV right now to check the nomenclature but the rating I am talking about (if CGWR is not the right letter combo) is the combined weight of your RV loaded to travel plus the weight of any towed equipment).
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Bob & BJ
On the way to ournextstop
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