That'd be about your max, I think, without crunching numbers.
If you're going out west, try not to be lugging full tanks (grey, black) up the mountains.
On edit: I saw your post with the link / specs. Keep in mind that 'dry weight' is really a misnomer. You'll always weigh more. 36g fresh @ 8lb / gal (approx) = 288lb. You have a 30# propane tank, and a battery is going to weigh about 80#. So that's another 400# on top of 3350, or 3800lb, roughly. That's before any food, gear, ...or toys. Your CCC on the trailer is good...but you need to check your towing specs for I6 w/ 3.42 gear - I'm pretty sure 5000# is the max to put on the bumper, and that's with a WDH.
Payload for the Voy is with you at 150lb, and full tank of gas. Add your passenger, dog, etc., to that tongue weight, and subtract that from your payload #.
Bottom line; it's probably gonna be close, on both (generally, you run out of payload first). Try and pack light.
If you find you like RV'ing, you'll probably want to go 'bigger' in a year or so. When you do...figure a more capable tow vehicle into the equation.