What that extended height of the frame does is make the twisting moment larger.
With an additional 3" depth, if it so not side braced to take the twisting loads. will increase the stress on the frame, not reduce it.
The added square tubing will increase the bending moment fore and aft, but not appreciable affect the loads from the wheels not being directly under the frame.
Think of that distance as an added lever bending the bottom of the frame outwards.
If the intent is to improve the travel over rough "Roads" and improve ground clearance I would suggest that since there is a cross-brace that it be installed between the pivot points of the "Axles and have a triangulated brace from the added three inch square tube and also that the ends of the square tubes be welded closed to increase the strength of the assembly.
Think of the loads from the trailer and the bouncing being applies at the axle x the distance to the pivot point as a pry bar twisting the unit.
This twisting might be many times the
weight of the entire trailer is extreme conditions which could be envisioned on the rough trails you suggest.
The 1977 Scamp would have thin wall tubing and it might be difficult welding to it without producing stress risers and weak points.
If I were you I would consider adding bracing to relieve the twisting loads on the frame and if they are added as triangulating braces to a cross bar that might be 3" square you would keep most of the center clearance you have now.