The Tahoe likely has electric power steering.
The battery must be disconnected to avoid the Tahoe constantly trying to recenter the steering while towing. Doesn't matter if the key is off.
This will definately kill the battery and it will reportedly cause the Tahoe to wobble back and forth quite violently. I have heard that once it starts it goes back and forth and doesn't stop until you do. Heard it is super dangerous.
My Chevy has the same setup instruction. I in stalled a battery disconnect and ran a 2nd direct power line from the battery to power the brakebuddy.