My 99 f350 powerstroke dually would handle it but one of the medium duty trucks you mentioned would be even better...
Forgot to mention you'd also need a class IV or V hitch... I have a Reese Titan and air bags for the rear axle.
If you like your current truck and don't plan to be hauling anything much bigger than this boat look into a 99-03 7.3 dually.... A lot like your truck but stronger, heavier, roomier, more powerful, and more capable.
That said, if you are a medium duty kinda guy, a 4700 or fl-70 can be bought for next to nothing and is built for that weight and more.