My brother has towed a CRV without even hooking it's lights to the MH for over ten years mainly in the East from NH to Fl. I agree with the 4' rule, but he has never been stopped. If someone tail ends the CRV are they not at fault... with a good lawyer (is there any such thing?) I think so.
I tow my SUV backwards and have the parking/turn lights hooked up BUT that puts orange lights (not red) at the back. In 12 years I've never been stopped plus you cannot see the licence plates of either vehicle...having saved me from one yellow/red light camera shot/fine. Click on "How I tow" below.