Until recently, I have been towing a 16 ft. toy hauler (5000+ lbs. loaded) with our 2016 Explorer XLT with tow package. I used a Tekonsha P3 trailer brake controller. The connector plugs in under the dash but it requires pulling the plastic and the metal to get to. I also used an Andersen anti sway weight distribution hitch. It towed pretty well but I felt like I was likely stressing out the drive train.Just got our 2019 XLT (3.5 N/A, with factory tow pkg). We are setting up to tow a small TT. The trailer GWVR is 3200LB, and we were towing with a 2012 Escape. This was "barely OK", too close to the weight limit and a bit too much wind area. And, no weight-distribution with the Class II hitch, so once in a while the front wheels would slip in gravel. Still, we managed to do some 5,000 miles of towing/camping.
I have bought a WDH assembly "Husky Centerline" that is actually rated for a heavier trailer. The ball sits too high, so I'll be looking for a drawbar with a few inches drop (otherwise, the trailer would be nose-high, around 4-6 inches).
We have a brake controller, that I had wired into the previous tow vehicle. I think the explorer has a connector somewhere under the dash, since there is a 7-pin connector, back by the hitch receiver; just have to find it.
Looking forward to hearing from anyone that's experienced with set-up and towing!