First off, great choice of TV, the Touareg is a very capable TV.
Check this post
for lots of good info. Have a read and post any questions there.
For the 19 at about 550lbs tongue weight you could probably just tow on the ball, however, a WD hitch will almost certainly improve the towing experience significantly. With a properly set up arrangement, you would hardly know it was back there. Adding sway control will add a margin a safety also.
I'd go with one of these
. This is a WD hitch with a friction sway control unit. The 800b bars should be fine. You can also get WD hitches with other types of sway control, some built into the WD assembly. Take browse of the "Hitches, Couplers and balls" forum here for more info than you could possibly read.
There will be many, many opinions on WD hitch selection and sway control choices. Brace yourself...
Attached is a picture of the setup I used for my 27FB for a while with an Eaz-lift and 2 husky friction sway control units. It worked very well. I now use a ProPride but that would be overkill for what you are towing.