A knowledgeable tow operator would make sure of three things if a flat bed wasn't feasible for a rear axle damaged vehicle. First, he would make sure his underlift stinger could reach in past any added frame extensions on a Class C, or an overhang on a TC. Ideally, he can do an axle lift, but a frame lift is the only option sometimes. Second, after securing the tow, he'd makes sure the steering wheel was lashed securely to keep the wheels straight. And third, he'd tow as low as practical to minimize the weight shift to the front. Oh, and if it's a 4WD, he'd make sure the transfer case is in neutral or disconnect the front drive shaft of course. It's really no different than back towing any heavily loaded truck.
