Your truck will tow your boat fine. I use a SRW Cummins to tow my 50ft 3/4 car hauler weighing 25-30k daily. I do have some upgrades to the truck and trailer. Yes I have used a DRW but prefer and upgraded "super single" style SRW.
Make sure the truck and trailer are in very good condition. Worn parts make for slop
Air the tires up to Max Cold PSI
If your truck needs more stability air bags in the rear help
Would not hurt to upgrade the trucks hitch, drawbar, and ball to 20k
Would not hurt to upgrade the trailers tires to 14ply G load range. I run them even though trailer came with 10 ply E load range, never had a flat since upgrading in over 500,000 miles
Hand pack Trailer bearings every year. I have had bad luck with using the grease zerks to grease trailer bearings. Just blows the seals out.
EOH brakes on the trailer
Safety chain along with the winch strap on the boat and rear straps never hurt either
9'6" Wide is not legal to tow without a permit, but just avoid attention (i know thats hard with a badazz BT!) and play dumb. Since your recreational you do NOT need to pull into weigh stations. Recreational laws are different then commercial, and every state varies. There are ways to tow legal, and if interested, I would recommend researching them yourself. You can not trust what we post about actual laws (no offense) and if you ever are ticketed or pulled over, at least you will have the actual paperwork already printed out proving you are legal. Calling the DOT does not work either, they are lazy doughnut eaters that have not studied the law properly. So find the actual laws on paper, and try to decifer them since they are written in "lawyer speak".
2 spare tires and wheels
Spare bearings hubs etc
Tools to change
Feel your bearings and tires at every stop to see if they are hot, if they are you are already about to detroy a spindle, tire is low on air
Having a truck act as a bandaid for a improperly set up trailer is not magically "safe" like some on OSO feel. The Trailer handles the weight of the boat, the stability, the sway, the braking, etc etc. IMO the trailer is MORE important then the truck.
Enjoy!