We flat tow a 2017 Ford Explorer behind our 2015 (ie V10 with 5 speed) Class C with no problems. The explorer, loaded to travel is much closer to 5000 pounds than 4000 and it does very well back there.
I was surprised at how little I feel it back there and how little it impacts our travel. We do lose about 1/2 to 3/4 mpg but with the exception of very steep hills, we rarely even feel it.
Good brakes on the towed vehicle are important. We use a Ready Brute elite tow bar with built in surge brakes that does a good job and is very simple to use. But there are many options.
