So I have been reading this thread with some interest.
This is one of the dumbest complaints I have ever heard about. I regularly get anywhere from 16 to 22 mpg on the highway doing 80 mph, low end mpg is with high wind (20ish mph quartering headwind). Why can't I get 22 all the time? Ford said 22 mpg on the sticker? Well it is called drag and it doesn't matter where it comes from wind or a trailer, it is there and it makes a big difference. Weight only affects acceleration times mostly (force=mass*acceleration), but drag causes lower top end speed and lower mpg (thrust=drag at stable condition). Side note, weight has an effect on the normal force on tires resulting in a higher tire rolling resistance, but that is usually a small component compared to the aerodynamic drag.
Well jerky, if you had bothered to look at the specs of your trailer you would find that it is 6' wide by 8' tall (you don't get to exclude the space below the axle as that is a major drag inducer), which is 48 sq ft of frontal area, and no your V nose will not make much of a difference behind your Explorer. If you would have bothered to look at the towing guide you would see that the Explorer is limited to 40 sq ft of frontal area. See 48 > 40 and Ford says "Exceeding these limitations may significantly reduce the performance of your towing vehicle."
So now that we have established that it is really drag that does most of dirty work, and not weight we can move on and see how the next link plays in. Pay close attention to the numbers for the Toyota Tacoma and Honda Ridgeline, both with 3.5L NA V6 engines producing similar hp to the Explorer 3.5L NA V6.
So the Tacoma gets 8.6 mpg towing a 5600 lb trailer and the Ridgeline gets 11.5 mpg towing a 4800 lb trailer. The EPA ratings for those two are 18/23 and 18/25 respectively. A 2019 Explorer AWD gets 16/22 (17/24 for FWD). Note TFLTruck tested with a trailer that was ~40 sq ft frontal area. So now we can definitively say that the Explorer you had was well within reasonable expectations of performance considering you didn't bother to follow the established guidelines on frontal area. I am glad you and the dealer were able to work something out, next time ask to see the towing guides and limitations and make sure the vehicle you want is capable of doing it.