tow vehicle advice

I recently purchased a 2006 jayco 20ft jayfeather exp that has a dry weight of about 3550 and loaded weight (gvwr) of about 4550. Can I comfortably tow this with a 2003 ford explorer with a v8 and factory tow package. The tow package includes a 2 inch class III/IV hitch, 3:73 rear end gears, and a tranny cooler. Ford claims the explorer has a tow capacity of 7000 pounds. This vehicle would be our daily driver so I don't want to stain it. Any feedback would be appreciated. thanks
tow vehicle advice

You didn't mention what engine that you have in your explorer.
My nephew has a 2005 explorer with the 5.4 V8 and 373 gears. He is towing a PowlerTT gross loaded weigth (actuall weighed on scales) 4596 lbs. It does fine in the flats and ok on the hills/mt passes in Wa.State. Any thing heavyer would really be too much in the hills.
The other item that needs to be taken into consideration is the ability to control the TT. (in other words panic stop it)