It’s all about the weight in determining if you need one. Your goal should to be having appropriate distribution (12-15%) if you can achieve appropriate tongue weight without a WDH, then you really don’t need one.
Now, Sway control is a different story. Not all WDH include Sway control and you can have sway control without a WDH and theoretically if you have appropriate distribution, you shouldn’t need sway control.
Also take into account construction. WDH works as a lever. Weight down from the trailer puts pressure on the vehicle frame to lift it. The vehicle pressure against it in turn works to lift the tongue thus distributing the weight. Whether or not you use it then becomes a matter of - how strong do you think our frames are?
Generally speaking, I personally do not use a WDH under 500lbs of tongue weight and similarly, I won’t tow my 6500lb camper with my F150 without one.