I haul a 171 with a lifted 2001 Jeep Cherokee. Tow capacity is meant to be 5000 WITH a WDH. That being said, I do not use sway bars or a WDH. I have been pulling this camper for 4+ months with no major issues. BTW, when I say 4+ months, I mean the wife and I have been traveling since May in the Pod, so we've been around the block. Through the rockies of Colorado, the deserts of arizona, Utah, Nevada... Up and down the coast of California to Portland and Seattle. 

I will say, we take it pretty easy. My average tow speed is 55MPH. If I start hitting 70 on a downhill, I might catch a small bit of sway... but it's easy corrected via my trailer brake controller. Semi's have a tendency to suck you in a bit too when they fly by, but it's nothing an attentive driver cant handle.

From someone who considers himself an experienced driver, these items aren't necessary. For comfort and ease of driving however, if you've got the extra cash you might as well have a trailer shop hook you up with what you need, specifically for your TV.