Ok, here's a question: Does that dry weight include a full gas tank and propane tank? If it does than you're basically in the same weight classes as we are: 18,800 pounds with fuels and 4,400 lbs. of vehicle. That means to stay UNDER the GCWR you have to keep your rig's weight and it's contents under 21,600 lbs (2,800 lbs of stuff). Adding in the 4,400 lbs. for the Explorer puts you at 26,000 lbs. GCWR.
If that "dry weight" doesn't include the fuels, then you should adjust appropriately. Probably about 100 lbs. for a full propane tank and 450 lbs. for gasoline. So people, food, water and stuff would then be reduced from 2,800 lbs. to about 2,300 lbs.
The above assumes your hitch, towbar, and other towing components are rated for at least 5,000 lbs.
~Rick