Your truck will have no trouble pulling that trailer. Im pulling a 2012 Outback
dry weight- 6500lbs
carrying capacity- 1700lbs
hitch-850lbs
My truck is a 2011 F150 Ecoboost with max tow pkg and 157" wheel base and i have no problems towing my trailer. I was concerned about my payload with the heavy tongue weight on my trailer so this past weekend i loaded up the truck and camper ready to camp with the family and hit my local truck stop with a certified Cat scale. My trucks GVWR is 7700 and with the trailer attached, kids bikes, fishing gear and the 4 of us in the truck it was 7520lbs. The GCWR i have is 17,100 and the truck and trailer weighed in at 14720lbs. Now my mind is set at ease..I don't see any reason for you to worry about that trailer with a dry weight of 5100lbs..
Good luck, Kevin