As others have alluded to, it's going to come down to payload. A 6000lb trailer and a Yukon XL isn't out of the realm of possibility. A 6000lb trailer and a Yukon XL with 5 people + stuff in the Yukon is iffy. You just won't know until you start weighing people and things. It sounds like you already have the trailer, so you should load it up and get the tongue weight (use a CAT scale or a trailer tongue scale). Next you need to figure out how much your family and their stuff weigh. You can use a bathroom scale to weigh everyone individually and then their luggage. Or you can put everyone and stuff in your current TV, weigh it, then unload and re-weigh.
Alternatives would be a 3/4T Suburban, an Excursion, or a 3/4 or 1 ton van with 4x4 conversion kit. An Expedition will give a little (~150lbs) more payload, but not a lot.
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2013 ORV Creek Side 18CK
2018 Expedition Max FX4
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