I tow with a body-on-frame SUV with no issues, but my RV is a little smaller (25'). I get why someone would want to use an SUV. If that's the case, you might want to look at the Expedition. It is rated to tow over 9000# and unlike the unibody Cherokee, is a body-on-frame design. The wheelbase is almost exactly the same as the F-150 with a 6.5' bed. The V6 generates 470 ft-lb of torque with a 10-speed transmission. The "max" Expedition has a longer wheelbase than the F-150 6.5' bed. The tow package includes an integrated brake controller and the trailer backup assist.
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2012 Ford Expedition EL Limited
2014 Passport 2510RB
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