Welcome to the RV world!
The DRW 2005 and later Fords have plenty of cargo capacity, and will make a great tow vehicle.
Some say that the 6L engine is a huge problem, and while they are right, the problem has a really easy fix, install a engine coolant water filter. Napa FIL 4070 and kit to install it is FIL 4019. This goes into the 5/8" heater hose line. You probably will need about 3' of heater hose to install it, so that you have one heater hose cut off, and going to the filter, while the other goes from the filter to say the engine connection where the first hose was cut from.
The 16.25" high hitch seems about right. This will give you 6" between the trailer and pickup bed.
You also have the ability to install the Reese hitch in just about any pickup. You might check with a RV retailer to see how, and how much. What can you do with the Reese hitch if you do not use it? Sell it on Craigslist or trade it in for labor or something towards installing the new hitch?
Have fun camping!
Fred.
Money can't buy happiness but somehow it's more comfortable to cry in a
Porsche or Country Coach!
If there's a WILL, I want to be in it!
I havn't been everywhere, but it's on my list.
Kangen.com Alkaline waterEscapees.com