The Taco can also be done with a driveshaft disconnect.
As mentioned, you need to also take into consideration of the Class C's tow capacity. Usually it is limited by the hitch ration and for most Class Cs it is 5000 lbs. So you need to weigh the Lancer and also get the weight of the dolly and make sure the combined weight is less than 5000 lbs.
also.... there are several different types of dollies. One of the main drawbacks is how to tie down the wheels of the car to the dolly. Many of them require you to do it from under the dolly and in unfavorable weather, this can be a real drawback.
So, do your homework and research, research, research.
Good luck
Ron