I also have a Nissan Frontier. When I first got it I joined the Frontier Forum: Nissan Frontier Forum to learn a bit about my new truck. There was a thread by a guy who went through the whole process of buying, setting up and using a camper. Very informative.

If your Frontier has the VTP (Value Truck Package) you can tow about 6300 pounds. The VTP gives you factory installed hitch, wiring for the trailer brakes (but not the controller), an oil cooler and the bed lining, tie-downs and the bed fence for running with your tailgate down.

My Frontier has that package but the biggest thing I have towed was a 5' by 8' Uhaul box trailer. It was very loaded and I towed from Dallas Texas to west Kentucky with no problems at all.

Good luck, and tell us how you made out.