I was unable to find experimental $\mathrm{p}K_\mathrm{a}$ values of imidazoline. However, the tools one can use to calculate and thereby predict $\mathrm{p}K_\mathrm{a}$ values are pretty good nowadays as can be seen comparing the predicted and experimental values for imidazole.
$$\textbf{Table 1: }\text{predicted and experimental }\mathrm{p}K_\mathrm{a}\text{ values of imidazole and imidazoline}$$
$$\begin{array}{lcccc}\hline
\text{compound} & & \mathrm{p}K_\mathrm{a,1} & \mathrm{p}K_\mathrm{a,2} & \text{ref}\\ \hline
\text{imidazole} & \text{(e)} & \phantom{0}7.13 & 12.70 & [1]\\
& \text{(p)} & \phantom{0}6.97 & 13.40 & [2]\\
\text{imidazoline} & \text{(p)} & 10.17 & \text{N/A} & [2]\\ \hline\end{array}$$
Note: $\mathrm{p}K_\mathrm{a,1}$ refers to the $\mathrm{p}K_\mathrm{a}$ values of the protonated heterocycle. The higher this value, the higher the basicity of the compound in question.
Obviously, the answer set’s statement that imidazoline is more basic is correct; the question remains why that is the case.
Both compounds obviously have the same protonated form, namely it is the imino nitrogen that bears a proton and thus a formal positive charge. Both of these protonated forms are $C_\mathrm{2v}$ symmetric. At first sight, the electronics of the two are pretty much equal. Yet obviously, imidazoline’s nitrogen must experience a greater electron density for some reason.
The key difference is the size of the π system which spans five atoms in imidazole but only three in imidazoline. At first sight, it seems like imidazole should be more basic since the positive charge can be delocalised onto five atoms compared to only three in imidazoline. However, this explanation fails to acknowledge that all π electrons are delocalised across more atoms in imidazole’s case.
With the π system being larger and spanning more atoms, we expect less electron density to be concentrated on each of the two nitrogens. On the other hand, the much smaller π system of imidazoline means that a greater electron density can be found on both nitrogen atoms at any time.
Further effects, such as the greater electronegativity of $\mathrm{sp^2}$ carbon atoms or the $+I$ effect of $\ce{C-H}$ bonds should be neglegible.
References:
[1]: The Evans $\mathrm{p}K_\mathrm{a}$ table
[2]: Calculated by ChemAxon’s Chemicalize service.