I am not familiar with the Rock Warrior. I had an '08 Tundra that I traded in on my 2017 SR5 with the TRD package. I pull my 25 FB without issue. I will warn you that your tongue weight will be heavier than what you posted. I have two batteries, two propane tanks and a spare tire on the tongue. When going camping the propane tanks are usually full.
All that said, even with the generator I pack, some chairs, extra water and a little bit of firewood, I am within specs. I know this because I have weighed my setup when on the road. In Washington, you can pull into a weigh station, even when it is closed, and they allow you access to seeing the scales. Pretty nice deal.