I towed my 212 with an F-150, 4.6 liter v8. The boat weights in at 3,500 lbs prior to adding the weight of a trailer and all your gear. Probably around 5,000 lbs by the time you are done. I would not be comfortable towing with a v6 explorer except for very short trips and, as mentioned, if your ramp is an easy one to get in and out of. My .02!
As a side note the 212 was a lot of fun. Great for sking and tubing. Just traded it in last week for a 25 Outlaw. Good luck shopping for one