There is a saying that goes around the forums .
" How do you know when a salesman is lying? His lips are moving !"
A salesman on commission; as most are; won't say anything that might cost him a sale.
Anything in your owners manual that relates to tow limits or GCWR ?
Have you ever weighed your vehicle and trailer , loaded for travel?
EDIT: I found the Escape in the tow info supplied in the other post, #3,500 tow limit , that would be with only a 150 lb. driver in the vehicle , every pound of passengers and cargo has to be deducted from that tow weight.
Find your GCWR, and weigh your set up, I'm sure you're over weight, transmission and brake problems are a distinct possibility.