I towed a TT just under 4000# with my 2008 Explorer 4wd V6 automatic with factory tow package. It towed the TT adaquately but no fun on hills. A weight distributing hitch made a huge difference in ride and towing. So do the trailer brakes. In PA, under 3K# does not require trailer brakes BUT they make a big difference. You need to base your TT load on its GTWR because you will likely reach that once loaded for camping.
All that said, that version Ranger with a 4.0L AND factory towing package should work for you if you already have it. Otherwise, a recent vintage F150 would be much better, even with the base engine, and get as good or better MPG. My 2019 F150 SuperCrew (4dr) short bed 5.0L factory tow package gets better MPG than my 2008 Explorer!
