Trade the Explorer for an Edge rather than an Escape. It's similar in size to the Explorer and even more comfortable. And the tranny was designed for 4-down towing, either as a Fwd or 4WD.
My understanding is that the Ford Edge can be towed at a maximum speed of 65MPH. I am concerned that would be an issue when traveling across some of the western states. Any comments about going faster than 65 in your RV -- I am just looking at getting started and do not even have the RV or the Toad yet.
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As for me I'll stay under 65 mph, when you are retired getting there is half the fun and we're not in a hurry. Although, going downhill it might creep up on me, but I doubt it would be a problem for short distances. I love my Explorer.