One thing you have to bear in mind about "dry weight"... That weight is the bare-bones trailer; no battery, no LPG, no options (even the "mandatory" ones). Rule of thumb - add ~400 lbs to the published dry weights for most "mid-line" trailers, add even more for "high line" trailers that come really optioned out.
That puts your real "empty" weight (as you would drag it home from the dealer) on the 210UDS at around 4000 lbs before
you even begin to add your stuff and the weight of a weight distribution hitch (~90 lbs for most brands). I think you'll find the 210UDS will be right at or just over your limit; the 210WBS will come in just under (by a couple of hundred pounds if you pack real light and don't carry any water
; the 189FDS would be a much more "comfortable fit" for your Ridgeline if you plan on any mountainous forays
I tow a 210WBS and I tow heavy (we're retired and go for several months at a time); I've scaled our 210WBS at ~5895 lbs and I always tow dry, I'd be over GVWR if I carried a full fresh water tank and anything in the waste tanks... Of course, I'm a "DIY" type and take enough tools to build a TT from the ground up if necessary; the tools, two bicycles, 2 months of canned cat food for 3 cats, LPG Campfire-in-a-Can, her spinning wheel (she's a spinner and weaver; I'm just glad she hasn't decided to take a loom [yet]), etc., adds up
Heavy, yes, but, we are comfortable when we travel!
That just demonstrates how easy it is to get to an unimaginable weight without even trying. Before I scaled the TT, I'd have given you a WAG at round 5000 lbs., I never dreamed that I'd gotten that heavy in loading. I tow with a Jeep Commander with the Hemi and it works, not hard, but it works, getting up and over some of the Rocky's higher passes. The Jeep has, for comparison to your Ridgeline, 390 hp and 400 ft/lbs of torque...
According to salesmen (both Honda and trailer dealer) you can tow any of those trailers. Real-life, though, you'll probably much happier with the 189FDS; you'll be able to pack more to make yourselves comfortable and still have a comfortable margin with your Ridgeline and that will make your RVing experience something to look forward to as opposed to something that comes with a certain amount of dread.