I have a few comments:
Does your Explorer have the Ecoboost engine, or just the normal 3.5L motor? I found our old 2011 to be sluggish towing an enclosed v-nose snowmobile trailer with sleds at 3,900lbs. It was fine in a pinch when my truck wasn't available, but not something I would set up to do all the time. Mainly it was due to the lack of power. If it had the Ecoboost, I might have felt differently.
There aren't many "carlike" SUVs that tow well, even if they say they can. Moving up to something like an Expedition, if feasible, would be a better option or moving down to popup that eliminates wind resistance and will tow better.