</font><font color="blue" class="small">( towing with a compact SUV 4-wheel drive vehicle )</font>
Don't do it.
Like Soundguy, I brought home my 'new' Yanmar with an undersized tow vehicle because that's all I had. (1988 Trooper - 3650 lbs, 125hp 2.5 l. These had a heavy truck-like suspension, not spongy like an Explorer). In 15 years it had always done everything I asked of it. I had towed my 1800lb tent trailer all over the west - Death Valley, Yosemite, Yellowstone, Victoria BC. I thought I understood its towing capability pretty well.
I rented a a top quality 4 wheel trailer (U-Haul car hauler with surge brakes) and it handled flawlessly. However the sense of inertia from towing 5000 lbs behind a vehicle rated to tow 2000 lbs was simply terrifying.
I tried a test panic stop after I left the seller's driveway and the stopping distance was excellent so I proceeded to take it home to the ranch - 100 miles, 2/3 freeway and 1/3 55mph two lane highway. No traffic, no excitement, nothing unusual except it took a full minute to get from 50 mph to 57 on the empty freeway.
Would I do it again? No, I wouldn't even tow it anywhere for service with that rig. Next time will be a tow vehicle from U-Haul to pull their trailer.