Conflicting requirements for towing 2014 Jeep Cherokee

I drive my Trailhawk to MH, put in park, hook up tow bar, put xfer case in Neutral per the manual, disengage electric parking brake, put tranny in drive and confirm it does not move, if so, move tranny to park and release the electric parking brake ( because it automatically engages when you put tranny in park), remove key.

When I first start the motorhome, I put it in drive and see if it will roll without the accelerator, if so and toad wheels are rolling and turning I smile and GO!