I was stuck 3 days once. I finally got a flatbed and a family member to help. Family towed trailer.
In the past I was able to get aaa to send a flatbed and also tow the trailer.
Yes, they use contract tow companies, or whoever they can hire to do the job. aaa just calls the tow company and pays them, they do not have a tow company.
tow truck drivers make money towing, not dealing with your nightmare rig that will take them away from multiple tow jobs. They will turn down hard jobs.
Truck and camper will need two trucks, one to tow truck, one to tow camper, or need a big flatbed for the truck and to be able to tow the trailer behind it. Not every tow truck has a ball hitch. Sounds like your trailer is big, so would be too big to tow with a truck on the flatbed too.
If all you want is to get off the interstate and into the nearest parking lot then a small tow truck can do it (tow your truck with your trailer still attached) and the driver might do it, and maybe that area the police will not try to interfere. If you want towed 10 miles then a proper legal, safe setup is required.
These are considerations for RVers who put a lot of miles in. Break downs will happen. Getting towed is easier in small rigs. You all might eventually need a tow.