I tow an '05 Crestliner CMV 1850 with a 2014 Ford Escape (SE model, 2.0L, with tow package). That boat is probably around 1,000 lbs. heavier with an average load that what you are proposing to tow. The CMV is an 18 1/2 ft. boat, 8 ft. wide, with a Johnson 140 four stroke (really a Suzuki DF140 with a Johnson logo)on it and it has a 40 gallon fuel tank.
I've been towing the CMV for three seasons now including round trips to Canada every year and two or three hour trips closer to home.
Zero problems, it works just fine.
Make sure you get one with the factory tow package, that is what gets the tow rating up to 3,500 lbs. With an aftermarket hitch, it is only rated at 2,500, IIRC. Also remember to tow in Sport Mode, it makes a huge difference.
Mileage wise, I see mid 20s day to day (country roads, mostly), higher 20s on the highway as long I don't have to be the fastest guy on the road, and on the annual trip to Canada I've averaged just above 16 MPG all three years. On that trip, after I fill up with gas in International Falls, the whole rig is probably pushing 3,000 lbs. Pulling the boat at 60 MPH on a flat, level raod, the engine is runnign about 2,000 RPM...I'm amazed every time I do it.
BTW, the built in anti-sway is really, really good; I had a deer jump out in front of me this summer in the middle of a curve with zero warning...and I flinched a bit...I could feel the anti-sway kick in right away. Between that and just under 40 years experience pulling trailers, we were nowhere near losing control.