I tow my samurai on a 14" trailer (a real trailer, with C-channel frame), with a 4 door 4x4 Explorer with the 4.0 OHV (160HP) and auto tranny. IIRC, max towing/cargo capacity on the Explorer is 5740lbs (that includes all cargo, passengers, trailer, whatever is loaded on the trailer, etc.). It tows it just fine. I do have trailer brakes....trailer brakes are really recommended no matter whether you are pulling with an Explorer or a 1 ton pickup.....it just makes towing that much safer, for you and the other people on the road.
Oh, and it does have a receiver hitch that is bolted to the frame......I would not recommend towing by just hooking to a ball on the bumper.