On the smaller side is the KJ Liberty. I bought mine new. After they got the ball joints sorted out it was trouble free for 80k miles. With tow package it was rate 5k lbs. It towed 3900 nicely. I made several long trips towing and it was comfortable. Towing, i got 12-15 mpg depending on terrain and I stayed under 70. Not towing and higher speed got 19 mpg. I never really found a need for the 4wd. Just used it for insurance a couple times.
I see quite a few around here. They all look good.
With your affection to Explorer, would a Sport Trac make sense for you? I had a friend who had a Sport Trac with an extra tall bed topper. It seemed perfect for her as the owner and hauler of one horse. It allowed her to put hay in the back end as well as tow but still have a family vehicle.
Her's was basically this. I remember the large/tall door which she liked for visibility while backing to the trailer. I seem to remember her topper/cap was a little taller though.
In reply to ultraclyde :
Well... I'd say the better solution is to keep the F250 PSD and buy a bigger boat.
We all have our pet peeves... one of mine is 2WD trucks. I've only ever owned 4x4's. While 2WD makes more sense 99.9% of the time, I just can't bring myself to get one.
The only SUV that might make me smile is a Cayenne Turbo...
I see Cayenne Turbos at 6k every once in a great while. 'Mere' 300+hp versions for that or less constantly. My market research includes getting an email every time that anyone lists any Porsche on CL in San Antonio (7th largest US city). 
I'm gonna go with the worst option and suggest Durango R/T.
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