Many (if not most) Class C RVs are limited to 3500 lbs. towing weight. However, you CAN replace the hitch and reinforce the frame rails to raise that to 5000 lbs.
Been there, did that, towed a Jeep Wrangler Rubicon Unlimited with a 1995 Tioga Class C. It worked. Nothing bent, nothing broke. I don't know the weight of the Jeep.
I towed a Dodge Ram 1500 behind our current coach, 5000 lbs. towing capacity. I don't know what the truck weighed.
My current truck weighs just over 7000 lbs. I have not attempted to tow it.
I have towed four down, on a dolly, and on a trailer. We towed the PT Cruiser from Montana to Georgia and back on a dolly. We stayed mostly in KOA campgrounds, and had no problems at all.
Some campgrounds have trailer parking, some don't. One should always ask about such things when you call them.
Good luck.