I have never had anything that small as a tow vehicle but it should work. Here is a couple of sites to help. First one is info on calculations.
Determining Vehicle Towing Capacity & Trailer Weight | Hitch Info
This is an actual chart with weights for trucks.
Truck and SUV Towing Capacity Charts
As stated the torque and hp are not the issue as far as safety it is the handling and braking. With out hills just about anything will tow your car and tires and gas and...... But stopping it and go around corners now that is the issue.
F250 and F350 have two very different tow ranges but use same engine and transmission. It is the amount of white knuckles that makes one buy bigger.