As mentioned above, more info needed (pin weight, GVWR, truck payload from sticker)... having said that... I have a 3500 cummins with a payload of just over 3900lbs... with the 6.4 and 4x2, you probably have a payload in the range 3500lbs. If you assume you're going to add 1500# of stuff for a total of around 12,300# @ 25%, you would have a pin weight of 3,075, at 20%, it's 2,460. One of those is probably right at your payload depending on your size and what you keep in the truck, the other probably leaves you plenty of room to work with. Depends on how the RV is loaded, and the initial weight distribution.
My gut feeling is that you'd be OK, but, probably have to plan your loads out to avoid going over your payload (if that kind of thing bothers you).
From a power standpoint and real world towing.... yes, your truck will tow it. The gas engines are going to run at higher RPMs than a cummins, but, that's how it is designed to work.