You really need to read and understand your owner's manual, whatever your tow vehicle may be.

Mario, I can't speak for a 1994 Explorer, but my 2001 has a greater trailer tow capacity than you are reporting for your 1994.

Depending on your engine and rear axle, the 2001 Explorer is rated to tow anywhere from 4740 pounds to 6620 pounds. That is with a frame hitch - the bumper hitch is only rated for 3500 pounds. Also limited to fifty square feet of frontal area of trailer (for camper applications).