I've read of folks having issues, but have towed numerous times without any problems.
1. Turn the truck off and hitch up.
2. Tow
3. Turn the truck off and unhitch
4. After driving forty yards or so, it'll ask about the trailer and you select YES.
That's it.
Sometimes, I find the Motor Oil Geek a struggle to watch, but he says it's about shear stability, not so much about viscosity. He adds that 5w-30 is twice as likely to shear out of grade as 0w-20 oils.
Of note, he bought a 4th-gen Taco, and at his first oil change, he used 0w-20.