Explorers with the V6 are rated to tow 5000-5500lbs. Mine has 3.73's and is rated for 5500lbs. I would tow my ZJ on a dolly with my Explorer and not think twice about it..........well that is after I get my crappy rear axle fixed.
Actually I would tow my ZJ on a trailer with trailer brakes, and load equalization hitch behind my Explorer if the rear axle was in top condition(I need to get that fixed)
Just dont speed and take it easy. I'm not a huge fan of tow dollys, but they can be used if you are smart about it.