I think it would help to know how deep your garage is. You can invest in a trailermover, which you may have already for your boat. The swing hitch should bring you down to 19 feet overall, but depending on the type of mover you have you may not be able to swing the hitch back while moving.
We have an 08 explorer as well and love it. Just watch the heater y pipe that snakes down by the exhaust manifold. Also check the hose clamps for the rear heater hoses under the rear of the truck. They tend to rust off.
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