I had towed my sailboat a few times with my wife's Escape and it was also close to the towing limit. Yes it did the job, but I was not that comfortable with it and the wife didn't like the extra wear and tear on her "truckette". Albeit, I didn't tow it that often and had a much longer ride. Towing with my F250 is like night and day compared to with the Escape.
If you can't afford and/or are not wanting a bigger vehicle, hopefully after a few trips you should get used to the trip and be comfortable. Do a few practice brakes before you really have to stop.
rkc
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Sorry to say that I no longer have a 1984 V20 :(
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