Keep in mind we're talking about a BII, not a late-model Explorer... That makes a difference.
IIRC, there was a neutral tow kit available back in the day for the BII, but the odds of finding one today (if it ever existed) are somewhere between 'not good' and 'no way'. If you have the automatic trans with the electronic shift, you will need the neutral tow kit (or disconnect the driveshaft). There is no other way short of a trailer.
Now, if you have either a manual trans or a manual transfer case (which were both available in a BII), you can place either of them in neutral and flat-tow it without an issue. The t-case is lubed by the rear shaft, and the manual transmission is splash-lubed and will be fine.
Good luck!