You really need to know if it is ecoboost which may give you a chance but I really think you will be dissapointed. You also need to check the frontal area limit of the explorer.
I used to pull a 18' center console boat with a ranger and it was not a pleasant experience in hills. Reasonable fine on flat terrain. I would not have been able to tow a 4,000 camper even though the tow rating on my Ranger was 5,000.
Just a warning. Even pulling my PUP with a Dodge Dakota was a pain since the truck was inevitably loaded down.
Last one, the wdh will weigh 100 lbs which must be considered in your TW and cargo limit. If your TW is less than 500 lbs, you may not need one. Your hitch should have weight limits stamped on it.