towing a boat

I have a 2 part question. I have a Yamaha sx190 boat. I am getting various info on actual weight but it could be close to the 3500 limit. What your thought on if I can tow my boat with my new Bronco. I have a 2022 4dr big bend. 2nd part is.. if yes it’s all good, how long should I wait to tow? I...