The saying with 210's (like a Cherokee 6) is that if it fits, it flies. I've always considered this a bit cavalier but in my 210N, with a near 1600lb UL, the statement that Dana makes is darn near true. I can get it out to the very edge of the forward envelope if I have a heavy passenger up front, middle row seats removed, full fuel and nothing in the rear. I have had the sucker packed to the gills with two heavy passengers, filled with heavy rifle match gear, full fuel and had it at the MGLW...and it was in the middle 1/3 of the envelope...crazy. HOWEVER, I always perform a W&B before any flight as a matter of having a routine...like a weather briefing. If I have an accident, I don't want to give the investigators fodder for questioning ADM.
Oh...and I perform the W&B on ForeFlight. The last paper calculation was done in PP ground school.