It is simple and easy to know if your truck is overloaded. You can read numbers but the feel of the load is another indicator, one that cannot be ignored. Load placement also has a big bearing on how the vehicle handles, and especially with how trailers "follow" and perform.
We hauled seven loads of hardwood last week on a lot clearing job, and stacking my load I computed 192 cubic feet which at a rough estimate of 50 pounds per cubic foot comes in at 9600 pounds. However, for example, Northern red oak weighs 64 pounds a cubic foot and all the wood was hardwood.
I have helper springs, load range E tires with 60 pounds of air in them, and they show a very slight bulge on the back tires. Truck goes down the road straight and true, no sways or instability on curves at speed limits.
My truck is a 2500 2008 hemi with stick 6 and I can manually change the ratios at will with a downshift or upshift. There is almost 320,000 km on the odometer and the only MAJOR repair was a complete front end renewal using aftermarket parts having grease nipples on them. I do not buy cheap crap parts either and this front end will last a long time with the capacity to amply lubricate unlike the stock front end.
You hobby truck owners(my term for those who delight in a spotless and immaculate truck) would wince at the places I go off road and the loads the truck carries/hauls but a load of 192 cubic feet hardwood I sell at $3.56 a cubic foot brings in $683.50 and we hauled three loads a day on that job. There are times we access our property to remove dead/diseased/dying trees and take out one a day but the amount even for that is nothing to sneeze at.
My truck more than pays its way and has for over 12 years.
As someone already pointed out, tires have a lot to do with capacity. Automatics are out for me, I would not have one for the applications I require. I know there are 8 speed automatics but I prefer the rugged standards though they are getting hard to come by. Yeah, I know transports have automatic transmissions and haul zillions of pounds but I will always prefer the ability to dial the power by a shift or two, custom tailored to conditions, load and road.