Just because your cars are AWD doesn't mean they can't be towed 4 down. My car, 2013 Ford Taurus SE is an all wheel drive and we tow it 4 down with no mechanical alterations required.
Prior to this car we had a front wheel drive Fusion and had to use a dolly for it. You need to check your owners manual and find out what the recommended towing method is.
I have done both, a dolly and flat tow. Flat tow is easier but a dolly is not a crazy amount of extra work.
When camping we left the dolly hooked to the motorhome 90% of the time. We got pull through sites if possible or otherwise unloaded the car from the dolly and backed the dolly and the motorhome into the site attached together.
My biggest complaint about the dolly is that in my home province we had to licence it every year $50.00 and get it safety inspected every year $25.00 and the tires lasted about three years. So there are some maintenance costs with a dolly that you don't have flat towing