Towing 3326 With 2002 Ford Escape

Hello, I live in Texas am new to this forum and am considering a TM for living in full time. I own a 2002 Ford Escape with a V6 and tow package. I was considering the 3326 since it is the roomiest of the TM's and, according to the brochure, weighs 3520 lbs. My Escape is rated to tow 3500 lbs. However, after reading a few of these threads I have seen that it is recommended to have a TV rated at 5000 lbs or so to tow the 3326. Which is correct? I don't plan on doing a lot of towing - just to my RV site and maybe a few short local trips every now and then. What do you guys think? I appreciate your replies.