Two things:
1 the scamp is not a flat plate, it is fairly well rounded
2. The height you are talking about is from the ground to the top.
What counts is the size of the trailer.
My Scamp has about 6.3 clearance inside so rounding up to 6.5 feet.
So maybe that comes to 44 square feet and perhaps a Ford F150 cannot tow one?
I think that the tow ratings are flatplate equivalent and Airstreams and
Fiberglass trailers are slicker than those square boxes.
However if you don't feel like whatever you choose will or won't do then so be it.
Personally I have no qualms towing my Scamp with my T&C rated 3500 lbs
The width of the van is 6'6" and height is 5' 8" for a frontal area is around 37 square feet. With a drag coefficient of .33 this has the equivalent flat plate area of 37 square feet / .33 or 12.12 square feet.
The same thing applies to other streamlined shapes.
At any rate doubling the speed squares the power required to move the shape.
If you want to use an Escape to tow don't get a square front trailer, get a fiberglass or Airstream trailer.
If you want to test the limits then use the industry standard
I have seen many European cars and SUVs dragging these things all around the country , especially up the Davis Dam road.
Is the Cargomaster a tougher pull than a Scamp?
You bet it is.
Many here have towed Scamps with small cars and SUV, and Minivans.
If you are not comfortable with that then by all means don't do it.
There is a difference in the shape and that difference makes a difference.
Personally I think that most of my Scamp is behind my 37 square feet of the van and is "drafting" most of the time. The MPG reading is over 20+ MPG at 65 mph on level ground.
My VW TDI averages over 28 MPG towing that same Scamp.
Neither have shown any tendency to add heat to the system in excess of what the added cooler will handle.
I havent done it yet with the Van, but I have towed through the Hill Country of Texas in over 110*F with no heating problems.
Some will only be happy with a Truck and then I am happy for them.
I don't care to drive a truck, so I don't.