You guys should be listening to dodge guy.
I too have a 2001 Ford Excursion with the V10 and my camper is built much like his. We have a hill here that climbs to about 2,000ft in elevation for sea level and I start at the bottom of the hill going 65mph and by the top I am lucky if I can hold 55mph. I'm to the point where I am about to pull the trigger over this winter and re-gear myself to 4.30's (stock tire size). The 2V V10 does a good job for a Gas Engine of it's generation, but at the same time the 4R100 / 3.73 combo seems like your constantly hunting for that sweet spot while towing.
Yes it will tow the camper, and you can prolly get away with it if your not doing it all the time. My truck only is used to pull our travel trailer so the cost to go to 4.30's is strictly a want vs need. Just got to decide what you want, everyone that is on the Excursion / V10 forum on the ford forums that has switched to lower gears towing says it was better than adding, tunner, headers, exhaust, etc for towinng performance.