Personally,
I wouldn't have one of those ugly a$$ "A-frame" tow bars if ya gave it to me. We towed our first Jeep, a CJ-5 about 35 years ago and yep, a pain in the a.. to hook up. The design and ease of use of today's modern, collapsible tow bars is so superior to those ancient things, it's not even funny. After spending as much as many of us do, to get a nicely deserved motorhome, then a nice Jeep or whatever, don't cheapen out and get a junk tow bar. You can find great deals on Craigslist and other classifieds for used collapsible tow bars that are in great shape with many, many tow miles left on them.
Scott