I tow a 2001 Ranger Edge, 2wd on the torsion bar IFS from the 4wd. Being tall, it can be a bit tricky on tight curves, I've learned to watch my cornering speeds. What works for the motorhome alone can get a bit squirrely for the tow. My Honda Fit tows a lot better on tight curves.
My Previous (92) Ranger was twin I-beam. At speed, on curves, twin I-beam was a lot scarier than the A-arm suspensions replacing it. Towing, I would be even more careful about tight curves. A lot depends on weight of RV vs weight of tow, a tow vehicle resisting a curve can jerk thebrear end and push you to understeer, you have to be careful how you react to that.
Experience driving both, 30,000 miles eac, I would prefer not to tow a twin I-beam Ranger. I don't know whether Ford ever recimmended those for recreational towing, as they did later Rangers and Explorers.
Braking systems? Most presume working with unassisted brakes, the hit the pedal really hard. You set them up to work only in emergency braking situations, to slam on the brakes when you do the same with the RV. There are proportional systems, using vacuum assist in the towed vehicle, but they are quite a bit. more expensive. than basic toad brake systems, especialy brake in a box add-ons.