Torque doesn't haul a vehicle up a hill, horsepower does. This misconception gets thrown around so much nowandays. Torque is simply a measure of turning effort, nothing more. Horsepower is a measure of work, and work is required to haul a load up a hill. Given proper gearing a 160HP engine, whether a Cummins 6BT, a NA 6.2, or a 350 gasser, will haul 16,000lbs up the hill at exactly the same speed. Any of those engines (again, properly geared) will haul 16,000lbs up a 6% grade faster than a 500HP semi will haul it's 80,000lbs up the same grade. I never said it would walk pass the semi - crawl would be more like it.
I will acknowledge that things aren't this simple in real life. Transmissions have limited numbers of gears, and the vehicle needs to be able to haul a load up a hill at it's HP peak and also be able to cruise at 65MPH at it's torque peak (for maximum efficiency). There would have to be a gearing compromise made no matter what.
Anyway, this is getting off on a tangent.The OP asked about a 6.2 to tow 16,000 lbs, and an older 160HP Cummins powered Dodge was mentioned as an alternative. The reality is both are going to be slow, even the Cummins with it's 400lb/ft. A TBI 454 (230HP, 385lb/ft) will pull the load better than the 6.2 or Cummins, but the penalty will be fuel economy. The Cummins will outlast the other motors, but will cost a lot more if something goes wrong. Again, compromises. The best bet would be a late 98.5-2000 Dodge with the Cummins ISB. More stock HP & torque, and a wider RPM band - it is governed at 3200RPM vs. 2500, which will let you hold a gear longer before shifting. This is a Good Thing. Not to mentioned it can be easily "Chipped" for more HP