I've pulled similar boats to yours with the following vehicles, and had NO PROBLEMS with any of them:
A Honda Civic
A Toyota Sienna
A Nissan Altima
A Jeep Cherokee
A Jeep Comanche
A Ford Taurus
A Subaru Forrester
Of all of those, the Taurus Station Wagon towed the best. It had a long wheel base and a pretty powerful V6. The Honda Civic is the smallest with the least power, and it does fine for local towing.
Just look at the ramp first ... if its slippery, steep, loose, then be really careful.
As a safety precaution, I always have a 30' tow strap in my boat. That way I can detach the trailer, walk it down the ramp into the water, load up the boat, hook the tow strap to the trailer tongue and then to the hitch and pull the trailer up out of the water while the car is up on safe, level ground. It might look really redneck, but it would work just fine and might turn a horrible day into only 10 minutes of embarrassment.