We have a 2009 Ford Escape V-6 with the same 3500# tow capacity. We bought a Flagstaff High Wall pop-up camper and used the Escape to tow it home. After that, we got my truck so it would never be an issue again. We had already planned on me getting a truck, but it just accelerated the purchase.
The camper weighs roughly 32-3300 lbs and it would do "OK" on flat ground, but once I started climbing an overpass, it became a struggle. NO WAY would I consider taking it anywhere that involved hills or mountains.
Part of the issue is that the AC unit and part of the camper actually are above the roofline of the Escape creating wind drag. Look for a low profile pop-up that isn't higher than the vehicle or possibly something more aerodynamic that towing a brick. #2-2500 lbs at the most, going lighter with the more people and things that you take along.
