We tow our Oliver Legacy II with a 2018 Ford Expedition XLT with FX4 and heavy duty tow packages. It has a 3.73 rear end which I understand is important in towing. This is our first camper and our first towing experience. The Expedition/Legacy II combo is great. The Expedition has plenty of power to haul the Oliver around. My previous two vehicles were Toyota Highlanders and I was intimidated by the size of the Expedition initially, but it didn't take long to get used to it. It's very comfortable to ride in around town and on long trips. It seats 8 and honestly that third row seat is not bad to ride in.
Our towing experience has been limited but it has been a lot easier than I thought it might be. We have the Ford back-up assist and the brake controller and they work wonderfully. The blind spot monitor extends back and covers the trailer when it is hooked up to the truck. I have the Ford safety suite although I haven't used the adaptive Cruise. The FX4 package got us 18 inch wheels and Michelin truck tires (no low profile tires for this truck). The backup camera in the truck is big enough to be useful (the one in the Highlander was way too small). My husband can back the truck up to the trailer and pretty much line the hitch ball up with the trailer tongue just by using the camera. We could easily take the Expedition on dirt/gravel roads. We're not doing Expedition Portal stuff--if we were we would have bought a raised teardrop-rooftop tent type thing and a 4Runner. But I'm confident that we can wander around on forest service roads, etc.
One thing that I have not seen mentioned in this thread is vehicle payload. My Expedition is rated at 1600 lbs. When you are deciding which vehicle you want, you might want to consider that figure too. Think about how much stuff you'll travel with and whether your vehicle will be able to haul it.
I think that being able to get your vehicle serviced anywhere is important and the Ford F150 is the largest selling vehicle in America. There are plenty of Ford dealers out there and that was important to us.
I wanted an SUV for our day-to-day lives. My husband drives a regular cab Ford F150 so we have a truck for truck stuff. There will probably be a day when we're camping and towing when I'll wish I had a truck bed instead of an SUV. Dirty, wet, stinky stuff in the bed of a truck is better than that same stuff in the back of the SUV but so far that hasn't happened to us.
Good luck with you choice and happy camping.