I agree on the full size. I tote around 6 kids and a retriever using a Toyota Sequoia. Has a 400hp v8, locking center differential, Atrac (Toyota's quasi front and rear lockers using software and brakes), plenty of ground clearance, and more. I haven't been stuck yet, and I get into some pretty hairy stuff up in the north woods of Minnesota (deep mud, large rocks, uneven ground where center diff helps, etc.). Of course I'm biased towards Toyota. I had a suburban before this and got the dreaded "reduced engine power" error and the beast was now worth nothing. Way too much $$ to fix.I would suggest a full size rig with at least a V8, probably an SUV to accommodate 5. I'm a little biased on the full size, obviously but to make towing a 5K trailer and toting 5 people and gear easier it makes sense.
I read that and pictured a Suburban or Expedition. Others might say different but I like my F150 to haul or towing anything I can. And I'm lazy so I don't need to think about what I take because I just over pack. Lol
FYI, The Limited comes with the tow package.