You're probably overweight, since the max tow capacity is for an unloaded vehicle with a full tank of gas, and a 150# driver. Any addl weight in the vehicle (passengers, gear, etc.), plus the weight of options (the max tow rating is calculated on a base vehicle) will make you over. You also need to worry about Gross Vehicle Weight Rating of the truck alone, your tongue weight alone might be pushing that.
www.rv.net/forums is a great forum to get more information. You'll need to sort through the "if you don't have a 2 ton diesel, you can't tow squat" people, but if you can do that, you'll get some great information. I'd also recommend you get rid of the sway bar and upgrade to a Dual Cam, or an Equal-i-zer brand hitch with integrated sway control. 34' is real long for an Armada.
Good luck!
Keith