Suggest you click "Notify Moderator" and ask that your thread be moved to "Dinghy Towing."
Sounds like your coach has the goods to tow a 5000# (just a guess) vehicle safely. The issue will be getting the Explorer's transfer case into neutral. I think there may be some 4WD not towable even if there IS a neutral, so you really have to check for the exact Make, Model, Year, and many Details.
Got the Owner's Manual? It may have useful information. Motorhome Magazine publishes an annual list of vehicles which the Manufacturer says are towable without further modification. Somebody here posted a link to back isses and I thought I flagged it but now can't find it.
FLASH: Trying to confirm my fears around How to Get in Neutral, I went to REMCO, who offers kits to help some vehicles be towable. I had to guess the details of which model and options you have, but the site returned this disappointing message:
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2003 Ford Explorer XLT 4WD V6 4.0L cyl 5-Speed Automatic 5R55W
Notes
•Installation of the Ford Neutral Tow Kit will allow this vehicle to be towed four on the ground. NOTE: FORD LOST THEIR SUPPLIER IN 2010 AND THE NEUTRAL TOW IS NOT AVAILABLE AS of THIS TIME. Remco does not have a solution.
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REMCO Link