You're going to need the tow module that is specific to the 2025 and newer models. It's only availabe in a kit that includes the hitch. Part # VS2DZ-15A416-C. I was able to get mine working with Forscan but since I already had an aftermarket hitch I now have an extra one.
Did you ever figure out how to clear this DTC code? I just installed my trailer module and configured everything with Forscan according to this thread. Everything is working except I'm getting this same DTC error code (Code: U0137 - Lost Communication With Trailer Brake Control Module).
My spare is a 285/75/17 and I have the Blue Ox hitch receiver installed. I don't have any issues at all with my trailers, bike rack or cargo rack. No extension needed with any of them.