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We have an SUV with 5000lbs tow limit and the V6 pulls the 212s just fine. Ours is a little lighter at 4900lbs loaded but she pulls and stops well. It looks like a big boat for the tow vehicle, but not an issue for me and I can see my blind spots in the mirrors just fine. Being big and heavy I can feel her back there for sure, but not a problem.
Technically you're over the tow limit and you need to be aware of that, but the V6 in your Palisade should have plenty of power to pull the boat the short distances you need to get gas, etc. Sure you'll feel it back there, but the brakes on the trailer helps. Tow cautiously and smart, and you shouldn't have any issues. Just be aware that you're towing over the limit so don't go crazy and keep your distance.
About tongue weights, double-check those numbers - I find Yamaha tends to spec to 10% or more (550lbs for our boat) and that was too heavy for the soft suspension of our SUV. I adjusted the winch tower to get the boat at the rear of the bunks per Shorelander specs, and slid the axles forward to get tongue weight down to 5% which is within specs and now at 250lbs there's very little sag in the rear of the truck and the trailer rides level. When hooked up, look at the rear wheels for sag. Also look at the fenders over the trailer tandem wheels - the fender should be level, not leaning down over the forward wheel which will contribute to more wear on the forward tires and brakes.