2004 29B, hitch was up-rated that year to 5000 pounds but still 350 limit on tongue weight.
I now flat tow a manual transmission Honda Fit (about 2500 pounds).
Before that flat towed a manual transmission 2001 Ford Ranger (regular cab Edge trim, about 3200 pounds). The Ranger was heavy enough to push around this RV on very tight curves (e.g. marked 15-20 mph) if I tried to take them close to the marked speeds. 29B model has a very long rear overhang in proportion to the wheelbase, you have to tow gently.
Your only realistic option for towing that particular car is a dolly, unless you can upgrade the hitch. Putting a 3100 pound car on a trailer will exceed ratings for tongue weight and leverage weight off the front axle, and the 29B is already too light on the front end with normal loading.