The Dodge Durango may be worth investigating. Compare wheelbase. Much other similar or the same as the JGC. Several folks have had good results with the JGC in several power plant variations.
The 23 is an easy tow, but much of the fun is being able to maneuver in tight spaces. How the RV handles is key there, so keep turning radius in mind.
No, the Explorer is listed at a 5000lb tow capacity, so with a 6000lb gross on the 23, it's less than ideal.
Andy has suggested the Jeep 4dr wrangler tows well. He had the opportunity to drive one recently.
All of these vehicles have a high center of gravity due to the SUV design. If you can find a lower CG solution, it would help towing stability considerably. The alternative that helps is a suspension that is stiff for towing, but compliant to road surface for superior traction.
Good luck with your investigation. Pat