I have had two Jeep wranglers, one was a 92 four cylinder with a five speed trans, and the other a 98 Sahara with an inline six and a five speed trans. I would not hesitate to tow my Scamp
16 deluxe oak front bath with the Sahara. The other jeep couldn't get out of it's own way!
I never towed the Scamp
with the jeep however, as I sold the jeep to get my current vehicle, my beloved 1993 Geo (Suzuki) Tracker. 1.6L inline four, five speed trans and 4x4 of course. Seeing as how I can easily tow my 16 deluxe with THAT, I am quite positive that the jeep wouldn't even feel the scamp back there. I don't pack light
either, I even have an ice maker.
That said, I don't ever go anywhere in a hurry. I tend to hypermile a lot which is the main reason I sold my wrangler!
Your TJ should have the same awesome 4.0 inline six that mine had. They produce almost all of their peak torque at an idle. I wish I had mine for a day just to hook the Scamp to it, sounds fun!
Hopefully this helps.