Your owners manual is the best source of this information. Motorhome magazines annual towing guide is a commonly used reference too. 2005 Dinghy Guide
but I just looked and it only goes back to 2002. You could call them to order an older version. You don't mention if you have 4x4 or not. In 2002 only the 4x4 can be towed and then only with the addition of a dealer installed neutral tow kit. I tow a 2007 4x4 Explorer with that kit so it sounds like things haven't changed much.
Others may reply with options such as kits to disconnect the drive shaft, etc but I don't really have direct knowledge of them.