Need to Pull 20 foot camper with wife,kids,dogs?

I need a truck SUV that can pull a 20+ foot camper. Vehicle needs to fit a family of 4 and 2 dogs. Looking at extended cab trucks, ford bronco/blazer. Would a explorer, smaller blazer be able to haul a 20+ camper around or do i need a larger vehicle. Probably spend around $4-5,000. I see a lot of explorers and blazers around for cheap, but dont know if they could handle a camper.