My wife's MDX has a hitch and it is a bit of a pig to tow with -- too short a wheel base and too low a hitch point...so we always tow with the 1/2 ton truck or at least the extended Aerostar van. I tend to subscribe to the guidance of keeping the ACTUAL trailer weight (use a scale, your estimates will be low and the factory numbers don't begin to account for options, fluids or people) to not more than 80% of the remaining tow rating of the pulling vehicle after accounting for its added payload which deducts from the 'factory' rating, which is just the bare vehicle and a driver of about 150 lbs.
Use a good proportional brake controller and of course a WDH...but with the MDX wheel base of 111 inches you are already trying to tow a 21 foot trailer that recommendations say should have a tow vehicle of AT LEAST 114 inches to start.
Stay safe out there.
Chuck
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2007 Tour Master T40C
Acura MDX toad
"It takes a great deal of time to recover from any improvement..."
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