Greetings sam! Your Yukon will do a great job of towing the 210. The 210WBS empty weight of 3470lbs, and a GVWR of 5915lb is within the Yukons specs of 6200 max towing. Remember to keep in mind the Gross Combined Vehicle Weight Rating (GCVWR), thats the Yukon, the trailer and EVERYTHING thats loaded up, and you will be fine. From looking online, is seems the GCVWR for the yukon is 12,000 lbs, but I can't be certain, check your owners manual under towing.
I pull the DS230 with a 06 Xterra and she does great, fuel economy ranges from 9 to 12mpg depending on terrain, head wind, etc.
Go for it and enjoy!!
2006 Nissan Xterra
B&M Trans Cooler
2011 Nomad 206
Panasonic/Pioneer/Kicker ~ Audio/Video System
Days Camped /2009 / 33