Nice decision...the tower is well worth it to us.
Depends on your towing situation, distance, traffic, experience, etc. Towing limits are based on actual capability of the vehicle, so if you're under the capacity limits then towing is legal and can be done safely. But the closer you are to the limit, the more cautious you need to be of your situation and surroundings. If you're worried and don't feel comfortable, don't do it. If you're comfy and sensible, shouldn't be an issue.
Your vehicle is similar to mine, and I tow my 212s with an SUV with 5k capacity. Boat and trailer weighs in at 4900 lbs with full tank so yeah it's up there. But I only need to tow less than 30 mins to three ramps in my area, and an hour to several others. I can feel it back there, but I'm not concerned as the trailer brakes work well (tested in an empty parking lot under heavy braking and maneuvering conditions as I learned to do years ago) and she handles great. I'm completely legal by being within capacity and have years of trailering experience, so I have no issue towing it. Having said that, I don't think my SUV was built for towing as much as for comfort, so the rear suspension is soft and sloppy, and towing through mountains would be off my list as the drivetrain could do it but fuel mileage is aweful with a V6 - need the torque of a V8 really, especially if you load up the vehicle. Yet towing every weekend to the lakes and rivers in my area is not an issue at all. Towing 2 hours from time to time isn't a problem either, except for the hit to the wallet. I'll upgrade to a V8 pickup in the not too distant future as we want to camp and boat at the same time with one vehicle and the SUV isn't up for that total GVWR limit.
As others have mentioned, you can buy the boat you really want now, and upgrade your tow vehicle later as boats can last for decades. That's what we decided to do and we love our boat so we're really happy we didn't compromise over the tow vehicle.
Here's a funny anecdote...was pulling the boat out of the water one day and a couple walking by stopped to watch and I heard the guy say, "that's a big boat for that SUV"...I chuckled to myself. As we started to clean and prep for departure, I walked back and said to the guy, "she looks big, but the little jet engines makes her lighter than she looks" and the guy stared in disbelief not realizing Yamaha makes jetboats as well as jetskis. Yeah a wide body high freeboard 21ft inboard would probably weigh another 800 lbs or more and would be too much. Way to go Yamaha.