I think the Frontier will be fine on the pulling end, but suspect on the stopping end w/o trailer brakes.
I pull my Seafari on a currently brake-less galvanized tandem w/a 5 speed V-6, 2WD Toyota T-100. It pulls very comfortably. But it sucks on the ramp at low tide because it doesn't have posi, and is sketchy in emergency braking situations. My distance to ramps is 15 miles on I-8, all downhill, going; all uphill returning.
It's one thing to get by, and another to do it comfortably. Even though the public is indifferent to our burden of towing ~ 4000 lbs, we still have a responsibility to others on the road. I'd feel more much comfortable with a functioning surge brake and a bigger truck. Loan has been approved by the bank now just waiting on the Admiral.