Check your truck’s towing capacity chart. They typically have an asterisk that says anything above 5,000 lbs require a WDH. As the others say, you would likely better better off with one but if your truck doesn’t squat and the towing chart says you only need a he WDH is above 5,000 you are probably safe provided the tongue weight does not exceed your capacity.
I tend to rely on auto makers as opposed to RV manufacturers that will push the envelope. Automakers have much more at stake and tend to under rate capacities.
Common sense applies too.