Maybe. The coach suspension may not notice it too much, but your hitch still has a rating for load carrying vs load distribution. The load carrying may be as low as 500 lbs and your 6100 lb trailer woud probably exceed that. If the load carrying rating is higher, e.g. 750 or 1000 lbs, I wouldn't bother with the WD bars.I have a class a Motorhome dp 350hp 10,000 lbs, pulling a 20? enclosed trailer around 6,100 lbs. Should I use my load bars and sway bar?