I have indeed flat towed with a gasser but you may be reaching too far.
Most gassers the tow receiver is rated 5000/500 (5000 pounds and 500 pounds hitch weight) that is without any drop or riseer on the hitch. straight out. (It goes down fast if you use a drop/rise adapter to adjust hitch height)
Second even 5000 pounds may be more than the difference between the maximum COMBINED vehicle weight (RV and Towed) and the loaded for travel weight of the Motor home itself (in my case it was 4000 pounds) Most jeeps are 5,000 pounds or more so you may be reacing a bit too far.
That seen I've seen Gasser class A's towing way beyond their rating.
