Greetings,

Camping Life lists the tow rating for the 2005 Kia Sedona at 3500lbs so at
first glance you should be OK.

However, there are a few caveats...

1.  You should have trailer brakes.
2.  Is 2704lbs the listed "dry" weight of your camper or is it the weight
you got when you took it fully loaded to a public scale?  Remember, "dry
weight" doesn't include a lot of the options that a camper may have (like a
full tank or two of propane, the AC unit on the roof, any water you may have
in the tank, and all of your other gear).  There can be a large difference
between the dry weight and the actual weight and the only way to know for
sure is to weigh it.
3.  The 3500lbs rating for the Sedona is typically only for a vehicle with a
driver, one passenger and a full tank of fuel.  Any additional weight you
add in the van will reduce the amount you can tow.
4.  Especially since your van is front wheel drive, then I strongly
recommend an aftermarket transmission cooler.  FWD is not the greatest for
towing and it's easy to do some serious damage to your tranny (read:
Expensive!) without too much effort.
5.  Check the load range rating on your van's tires.  Softer passenger car
rated tires (softer for a smoother ride) will not be as good for towing as a
light truck rated tire (firmer for more capacity).

Cheers - Jonathan