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Explorer rear axles are a dime a dozen (8.8 ford rears with disc brakes even) at junkyards. Plenty of them come with 3.73 or taller.
Swap the rear and see if it does any better. Then decide if you need 4wd bad enough to swap the front.
Ditch the roof rack and running boards.
If all else fails, get a truck like mine. You can get great mileage with your payload in the back, rather than needing to get a trailer all the time. Then when you really need a trailer, get it. For you, anytime you need to haul, you have to get the trailer. Sure I'm slow, but it only matters a few minutes on a long trip.
And yes, my truck has 4.10s.
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