If you're hauling just one car and an open trailer, I would try to get something that's rated for at least 5,000 pounds. For this, any full size 1/2 ton truck should be able to pull this.
I have a 2004 Dodge Ram 1500 4X4 with tow package. It's rated for about 9,200 pounds. It's more than adequate for just one car and an open trailer.
If you have an enclosed trailer, I'd recommend stepping up to a 3/4 or 1 ton truck for more towing power. You don't need dualies but make sure you don't push the tow rating because that's the max limit. Just because you're slightly under the limit doesn't mean you should tow it for long distances because you will wear out the transmission.
Also make sure you learn how to drive with a trailer. You need to gear it slightly differently and take wider turns. Backing up is also fun.
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