I had an Aerostar for a few years. I also had a truck. The Aerostar was great on trips and around town, but it wouldn't tow squat. I had to put trailer brakes on my 18 ft. boat.
I have a neighbor whose wife talked him I to a Honda pilot which is sold as an SUV, but come on man. He wound up not trading his F-150 and says that was the best trade he never made. The Honda sits in the garage next to his fishing boat.
The Mrs. currently has an Escape with the factory towing package. It tows, but it strains pulling the boat, and if it weren't for 4wd, it would never pull it up a boat ramp.
Yeah I wouldn't use anything but a full size SUV (with a big six or an eight) or a truck to pull something big like a full size boat.