You'll be fine. If you have a u-haul with a surge brake, no problem.

I've used my 3.0 to tow a 5,500lbs load for over 10,000 miles with no problem. I usually towed around 65-70mph; even at 85mph, the truck is actually quite stable and the load quite unnoticeable (although I do not endorse towing at such speeds).

There's a guy on this forum that tows a 8,900lbs Airstream caravan with his V8 X5 (I think it's a 4.4i).

Again - you should be fine; just realize that, at 6,400lbs, you're over the recommended towing capacity.

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2003 3.0i; Base Model Work Horse