Welcome to the Forum!
Before I bought a different tow vehicle, I suggest several much less expensive steps.
Verify the PROPER setup of the WD hitch. It is not hard, but it is easy to get careless (dealer) and not get it right. I am not an expert on setting them up, but others here are.
Verify tires are inflated to max inflation allowed on the SUV. Also check the load rating on the side of the tire and make sure it can carry the load. As others have said, it may still need LT tires to correct the issues you have.
The advertised hitch wt is useless. Same for dry wt. Nobody goes camping in an empty camper, so, as Gary said, the camper will likely weigh close to 8000 lbs when you go camping. That is what you are really towing. Make sure the hitch wt is 800 lbs or more, or it WILL tow horribly. Here is a link to how to weigh the hitch.
https://www.etrailer.com/faq-how-to-determine-trailer-tongue-weight.aspx
Take it out for a test drive and see how it tows then.
To figure minimum payload required, add together weight of all passengers, pets, car seats, snacks, toys and other cargo in the SUV. Add 80# for the WD hitch. Add 10% - 12% of ACTUAL camper wt or measured hitch wt WHEN PACKED FOR CAMPING, making sure it is more than 10%
This would be 350# passengers, 200# misc cargo, 80# hitch, 900# hitch wt = 1530# minimum payload. My guess. Use your real numbers.