Since you're headed out west some light WD and modest sway control is a good safety cushion that will add a margin of safety for you. You could marginally get by without it if you have experience towing, keep your speed reasonable (60-65 tops) and don't react to some movement. Me personally, I like the extra stability and safety margin so I would make the investment in a quality bar with good sway management, like a Reese straight-Line perhaps (I don't have one, but my Blue Ox is not your best choice). I'd steer clear of stiff bars of the Equalizer types for those little vehicles, they have great sway control but they will be a bit hard on the trailer.
Inflate you FJ tires for full payload, they will hold the road better. If the door sticker does not provide advice we can help with that. Watch your speed on the steep grades your transmission will appreciate it. If you have a temperature gauge you want your transmission to stay below 225, the closer to 170 the better.
Edit: Put a fair amount of your gear in the FJ it will handle the trailer even better with more payload (not to much heavy stuff, you dont want the rear suspension to bottom out.) but not more than max payload.
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