With regards to your figure of 10,100 lbs... is that an actual scale weight or just weights of the boat, trailer, gear and so forth all added up? I ask because on the Grady White website it says that the tested weight of a brand new 232 Gulfstream with twin F150's on it is "7228 lb. (including persons, fuel, water, gear, engines & accessories)". And with twin F200's it is "7025 lb. (including persons, fuel, water, gear, engines & accessories)". Now they don't specifically list on that page of their website exactly how many gallons of fuel that includes, though I would have to imagine it's probably at least 20 gallons or so of fuel and it includes, as stated above, persons, water, gear, engines and accessories. Which again is somewhat vague, as it doesn't say if that's 2 or 3 people or whatnot, but with it saying "persons" it would make me think that number would be at least 2 people. Even if that figure of 7,228 lbs was a boat that had a completely empty fuel tank, most 232 Gulfstream's tend to have around a 140 gallon tank. A gallon of fuel weighs around 6 lbs / gallon putting a full tank of fuel at around 840 lbs, which would be 8,068 lbs before the weight of the trailer.
I'm thinking even if the trailer was 1,200 lbs or more in weight and the boat was decently loaded up, that the total weight of the boat should be closer to the 9,000 lb range. At least, that's if the numbers that the GW website gives are accurate. Which again is a completely fueled boat with also the weight of at least two people, a partially full fuel tank, test gear and so forth. Lastly, with regards to a 4WD truck... yes you may only need to use it a few times over the years but it more than pays for itself after you've been on a slippery ramp and are just spinning tires using a RWD truck. The YouTube channel Wavy Boats / Bronco's Guru always has great videos of guys at the boat ramps with RWD trucks that spin tires and need 3-4 people bouncing on the tailgate just to get traction and get the truck back up to the top of the ramp. There are also videos where they have to use a tow strap or use the outboards to help get the truck over the hump on the ramp. You can also reduce a good deal of weight by towing the boat half empty or less and then filling up the boat near your destination.