I had the same issue with my 2006 F-150 5.4 3.73. I even went as far as rebuilding the transmission with a heavy duty clutch pack, shift kit and drilled out valve body specifically set up for towing, cat back exhaust, cold air intake, premium fuel and a Edge Evolution programmer set in tow mode and it was still a dog. The problem is there is too much spacing between the gears in the transmission and only 4 gears.
My remedy was a new 2014 Ecoboost and with only a 3.55 rear end. Between the 420 Lb Ft torque of the Ecoboost and the 6 speed transmission with Tow/Haul mode it is night and day different towing the same trailer to the same locations. Where the 5.4 would crawl up a grade screaming like a banshee at 35 MPH the Ecoboost goes up it at 55-60 MPH in 4th gear at only 3500 RPM and doesn't need to downshift further. The problem is the gears in the transmission are spaced to wide and there are not enough of them, not the rear end gearing. The spacing is such that it either lugs or screams and is out of the torque range either way which is not optimal.
Technology has come a long long way in a few short years and I would never have believed it if I didn't drive it for myself. 218 cubic inches but 365HP and 420 lb ft of torque at a low 2500 RPM, it never breaks a sweat.