6150kg is more than 5600kg, according to my calculations.
As far as Bulya’s question, the 19.5s he wants to use are ~35.2” diameter, I trust everyone knows how to calculate that. The stock 17.5s are ~32”. Since the vehicle, particularly set up as a camper, will always be loaded, it depends on whether rpm (only 2200 with OM904) limits top speed and cruising speed excessively for use on your country’s highways. For EU and other non North America/Australia use, I would do a gearing change. If it’s going to NA, try leaving it and see what happens (recalibrate speedometer).