Welcome to the amazing world of RV camping! We camped for 30 years in a Coleman pop up which was very lightweight but nowadays you want an Ultralight to pull with your Explorer which are more secure and way more luxurious! I would highly recommend a Keystone Bullet Ultralight travel trailer. I just purchased a new 2014 Bullet 285RLS Ultralite TT (30 ft long) last year and we love it! Top quality, luxurious interior, loaded with features and ours only weighs 5500 lbs. However, that would exceed your Explorer capabilities but you can find smaller Bullets that would be in the 3500-4300 lb range that I believe will be OK for your Explorer. Take a look on Keystone's official site at the Bullet 230BHS which is 4370 lbs! It sleeps 6 with queen bed, 2 bunks and a dinette that sleeps 2 little ones.. and is gorgeous! Think it would work for the sixe of your family and your Explorer weight limits. You don't want to buy a 19 ft TT for a family of 6.. You will get tired of how cramped it is real fast! Not to mention, in a few years,when your kids are teenagers, they don't want to sleep on the floor! Find a Keystone dealer in your area With that many kids you of course want the bunk house version and they have several. Check out their website for models and check the weight specs after you determine the total tow capacity of your truck. We did a lot of looking and found the Bullet to be loaded with quality and amenities but still a true Ultralight. You will find a lot of other happy Bullet owners on this site! Feel free to ask me any questions you have about the Bullet if you are interested. we have used ours only twice for 10 nights camping but not a single component has malfunctioned! That is amazing as complex as these new TT's are! Happy hunting!