2019 ZR2, crew cab, gas with Bison package and 2001 Scamp 19 ft. Deluxe (wood cabinetry) 'fifth wheel' owner here since 2009 with over a 100k towing miles on Tacoma's (05 & 12 TRD O/Rs) and now the Colorado
First, its not a true fifth wheel or gooseneck. Scamp uses a hybrid system where the trailer coupler is really the same as that found on a bumper pull, It attaches to a bed mounted hitch using rails, towers and a cross bar from a fifth wheel but a 2" ball instead of a plate. I've built two Scepter MFC holders and mounted them to the rails on either side of the hitch towers. These and the hitch itself are removable in about five minutes leaving only the rails in the bed.
In camping trim with all our gear aboard, the trailer's gross weight is around 3,500 to 3,600 lbs with a tongue weight of 425 lbs or so. The truck has the Bison package along with a 9.5K ComeUp winch with synthetic line. A 3000W Honda genset, 73 qt rotomolded cooler and five gallon Scepter water can ride on the toolbox which contains recovery and emergency gear. GVWR is right at the 6,100 lb limit.
With the ball centered just slightly behind the rear axle, I have enough clearance to hookup with the tailgate down and can make 90*+ turns without the nose of the trailer contacting the cab. With the generator and cooler aboard, I'm limited to around 80*s but that hasn't been a problem.
The mid-size truck and 19' Scamp is a great combination. The Colorado has much more power than the 4.0L in the Tacoma's I owned and gas mileage is significantly improved - 16-17 vs 11-13. The transmission has been trouble free for me in 25K miles (5K towing). As to the single axle, I had four tire failures (tread separations) before I radiused out the wheel wells and went from 175 to 205 14" tires. All were at 65-70 mph and there was no trailer sway. When I first bought the Scamp, it did not have the axle lift option and the small tire was all that would fit until I trimmed. With the Colorado's higher sides, I had to install the 4" lift axle will probably go to 15" tires with my next replacements. This should totally eliminate any tire issues.
I'm very familiar with the Escape 5.0 TA and that's a great trailer which would also be good with our trucks. The Scamp just does everything we want to do for now,
We generally set up camp on public lands, stay in one place for several days and use the truck to explore trails and backroads in that area. The Tacoma's were good at this and I think the ZR2 will be even better. Obviously, not the Chevy but this site in Black Hills National Forest is a typical camping spot for us.