Look under the rig towards the front and you may see a sticker depicting the frame serial number and info. Outside of that use a tape measure and measure your frame to get height.
I'm really surprised that you have a clearance issue. My 2019 seems to have a slight rake to it and when loaded it levels out. My bed rails are higher than yours are supposed to be though.
I saw the pictures Kelderman posted. Truck looks great. I forgot to ask if you got the stock ride height? Can you lower the front too when the rear gets loaded?
I had a tough time reaching 500 miles before my first big tow. I just took it easy and kept the speed around 55mph. I like the suggestion below to take some back roads at first then hop on the highway.
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