Hey Steve, I'm in the same boat right now; time to get an suv to tow the tinny. I'm pretty set on the escape but open to other brands. Thought about a truck but the SUV just makes more sense to me.
I would consider a 4cyl 4x4 escape if you're just going to be towing a tinny. Much better mileage in the city than the V6. Also, consider a 2009 or newer as I believe they went to a 6spd transmission which further improves fuel economy.
Definitely get a 4x4!