Sway has nothing to do with it. You're still confused. Rivian says no to towing anything over 5k without a WDH, end of story. Take it up with Rivian.
It is the end of the story because you have run out of knowledge. Sway has everything to do with it because the 5,000 lb limit is based on the SAE J2807 standard of which "Total Control" is a key factor.
The 5,000 lb WDH requirement for the Rivian (and Ford) is based on the SAE J2807 standard used by most manufacturers. That standard covers:
1. Highway Gradability
2. Launch on Grade
3. Acceleration Requirements
4. Total Control (Handling)
5. Braking Performance
6. Structural Integrity.
Total Control checks for Understeer and Sway Damping specifically. For understeer the front tires have to demonstrate understeer breakout at .3g of lateral acceleration. And for sway dampening at 62 MPH it must demonstrate a negative damping ratio of >= .10.
But here is the big news. SAE J2807 is very specific about the trailer to be tested in order to pass the test.
1. The SAE standard mandates a trailer rated at 11,000 lbs and a frontal area of 60 square feet.
2. SAE J2807 dictates the height of the trailer's center of gravity.
They will not allow a trailer with a low center of gravity to pass the test. They want the COG high to avoid "cheating", so it is set to the COG seen in a high profile slab sided trailer. Remember the standard was created before a trailer like the LightShip.
3. It requires a tongue weight of at least 10% of the trailer total weight tested.
4. And it requires a specific tire and track width for the tested trailer.
So the bottom line is the SAE J2807 test is rigged against the LightShip. It requires an 11,000 lb trailer (versus 8,200 for the LightShip). It requires a frontal area of 60 square feet (LighShip frontal area is 56 square feet versus 90 square feet for a typical high profile trailer and it requires a high center of gravity. Obviously, there is nothing in the standard about aerodynamics or self propulsion.
So the SAE J2807 is basically a test to make sure the tow vehicle being tested will meet a basic standard to tow a heavy, slab sided, high center of gravity, poorly aerodynamically designed trailer without self propulsion.
There is no SAE standard to predict the road worthiness of a tow vehicle with a trailer like the LightShip. So the 5,000 lb WDH requirement has nothing to do with a manufacturer recommendation and has everything to do with passing the rigged SAE J2807 test.