My last setup was a 36' Bounder, towing a 2004 Wrangler. Also had the Ford V-10 setup.

Averaged 7-8 MPG towing, with the Onan 5.5 KW generator running too. Cruised at 63-65 MPH.
My Jeep had an A/T. It was connected to the MH, the transfer case was put into neutral, and the transmission into park. I had a spare key (no chip) made to unlock the steering column when towing.
I would put my butt against the Jeep's front bumper, and push it away from the MH, which would cause the extendable towing arms to extend and lock into their driving position. This also verified the Jeep was ready to roll.
Once we arrived, I'd set the parking brake on the Jeep, and engage the transfer case. Could easily drive it afterwards. Never had a problem getting it in gear once again.
With the very poor mileage, makes me wonder if your transfer case didn't properly disengage. You could try your procedure on a flat parking lot, and have someone inside the vehicle, then try to push it. Should roll very easily.
And FWIW, the V10 had no problem getting up to speed onto on-ramps, and maintaining hwy speeds over rolling hills. Bigger hills, the transmission gets to do its job, but still got there.