You don't know if you're gonna have a problem it you don't weight it. It's not about not having problems, it's about what happens in the future. Since you don't mention your weights you are not fine. That's about the size (or weight) of it.
Of course when your truck gets older and starts breaking or wearing out sooner than later you can be just like most owners who don't care about this and trade it in for newer and allow your prior vehicle to be the problems for the new owner who can only afford used and trusts the vehicle was taken care of, not!
Just because you're towing just fine doesn't mean things are fine if you don't know you are weight compliant. I won't go over the factors but we must trust the engineers that came up with the numbers. There are some modifications that are made to make things better, but you run the risk of the real problems being hidden.
The best thing to do is stick within the ratings and understand that you shouldn't drive downhill, towing your tons of fun at 80 mph. I've met plenty of people who have exhibited "don't worry about it, it can take it" mentality. The industry will call them accidents, but anyone causing an accident by being neglectful, ignorant, or abusive is NOT an accident, especially if you've affected others lives and property!
I have met plenty who have lost tires, wheels, axles, springs, hangers, welds and the list goes on. I guarantee you every one of them claimed things were fine. Things break under normal conditions, why push it.
Get all your numbers, then post all your numbers, then even you will know you are truly fine. I have done this and can say, "yup, I'm fine"... then wait for a problem anyway.