If you are looking at a popup it will do fine, towing it and your camping gear. Do not go nuts and put in half a bed of wood or 20 gallons of water in the tank and then expect to make it up a steep hill from a stand still. Also keep it locked out of overdrive, the 3.0 shifts enough unload on the highway in the hills (I88 out of Albany mine like to drop second going up some inclines if I have cruise on and not watching RPMS). Remember the truck may have a 3500 lb tow capacity but if you drop a 1000lbs in the bed the tow cap drops by a 1000 as well (or 500 lbs of gear an 2 good ol'boys in the cab = 1000). If you are planning to tow travel trailer type, good luck. The wind drag caused by the trailers front will damn near kill any speed and it makes the truck act as if it towing the Titanic, unless of course you have a cap on you bed to keep the air flow up near the trailers top.
PS: if you do not have one, get a trany cooler installed.
Info based on:
2002 3.0 Liter Ranger Edge, 2x4, 3.73 axle, 10in drum, trans cooler, tonneu cover
Towed:
2005 Jayco 806 Popup (closed 11ft long, 7.5ft wide, 58in ht) 1420 dry 1700is loaded. - pulled twice a year at least from Northern NJ to Ct/Mass line via I287, I684, I84
2003 Side load quad trailer (think open or clamshell style snowmobile trailer deck) loaded with plastic shed 6ft wide, 7ft ht, 7ft long and 700 to 1000 lbs of personel stuff (I was moving from NJ to Albany) Total trailer weight loaded (estimated) 1500 to 1700 lbs - pulled up I87 from NJ to RT23 and then up East Windham Mnt (think 1000 - 1200 ft increase in elevation in 2 miles or less, majority under 1 mile). - This acted more like 3000 lbs of pulling weight the whole trip and took some hard smart driving.