We tow a 2012 Casita FD 17 with a 2010 Audi Q5 with the 3.2 liter V6. The Casita 17's tend to be tongue-heavy. We towed with 340 and 360 lb tongue weights during our trip last week as measured on a scale.
Yes, the Q5 capacities are 4,400 towing and 440 tongue weight. The payload capacity on ours is 1,278 lbs. The payload capacity on yours appears to be very similar.
For us the payload capacity more than covers the tongue weight, driver and passenger, a pair of 30-lb folding bicycles and minor items such as two small day packs that we like to keep at hand, and jackets and boots in the winter. We don't carry anything on the roof rack.
We had the Audi hitch installed by the dealership at some great cost. It's a good design. I purchased some wiring connectors from a VW dealer and installed a Prodigy P3 brake controller myself.
I estimate that we carry some 600 lbs in the trailer, but that's not been verified on a scale. The published dry weight is 2,480 and we have some options such as the microwave
which add to that figure. So, I estimate that we tow at 3,250 lbs or more.
In our case, I tow without a weight distribution hitch or a sway bar. I have evaluated this carefully under some challenging conditions including freeway towing in the Cascade Mountains and in very high winds along the Columbia River Gorge. I think I am very conservative and I've been well-satisfied with the stability of this arrangement.
The power curve of the 3.2 gasoline engine will never be confused with a diesel as the engine needs to run at a higher speed in order to pull steep grades at speed. We are able to keep up with traffic in all conditions without having the pedal to the floor. By comparison, your 2017 3.0 engine appears to have a similar HP rating at a lower speed, and a significantly better torque rating.
We currently have an Escape
21 on order. It has a similar published tongue weight and about 730 lbs or so additional dry weight. It also has a larger frontal area which will generate more "wind resistance". I will tow it home empty with the Q5 this winter, however we will upgrade our tow vehicle in order to maintain a healthy margin below the rated towing and payload capacities. I expect that we will purchase a Q7. Based on the experience I've had owning the Q5 for two years, Audi has earned my business.
I hope this information is helpful to you.