Most Ford (E350 and up) and Chevy (Workhorse) motorhome chassis have a 5000 lb. tow rating. I have a Chevy Workhorse and tow my '99 Jeep wrangler behind with NO issues. Check your year Jeep as most don't come close to 5000 lbs. My '99 weighs in at 3600 lbs.
I also tow it with all four wheels down. I have a road master brake controller as most states require a brakes on towing anything over 1500 lbs. Why use a trailer when you can just unhook and go where ever you are. Then you'd have to find a place to park the tow vehicles trailer. Jeep Wranglers are the best vehicle setup for toad towing.