I've done a lot of research into this as I did the brake pad change on my 2018 XLT... The SD vs HD rear rotors yield a size increase (13 vs 13.6 IIRC) but the pads are the same. So while the HD rear rotors are vented and slightly larger, the pad surface area is roughly the same because they can use the pads interchangeably. I looked at a bunch of Explorer tests from Car and Driver and Motor Trend where they do 60-0 or 70-0 stops, and it's always been relatively the same between the Limited, Sports, etc... whether it was SD or HD brakes. There was not a statistically different stopping distance to indicate one set of brakes was better than the other. The Ford part #s for the rear pads are different, but it's because of the pad compound and the chamfering/cut of the pads - but all the aftermarket rear pads are generally designed for either type of caliper.
To me, the HD is a bigger rotor with the same size pad. So the larger vented rotor is great for repeated hard stops or maybe towing, but Ford didn't include the HD rear brakes for the 2018-up Tow packages, you had to get Limited or higher. Insert question mark emojicon.