My wife and I met a couple traveling through our area with a Class-A pulling a smart car (which my MIL also owns both and wants to make her SC into a toad). We talked with the owners quite a bit, and they bought a tow bar meant to screw into the eyelets, and have been towing 1000s of miles with this setup safely. His setup also included a $60 or so tow bar from Harbor freight for the MH hitch.
The only other issue was you need to put bungee cords around the steering wheel to stiffen the steering gear. Unfortunately his source (I think NM located?) didn't make the tow bar anymore. Based on his advice/experience, I would think this would be a viable way to tow. Just my .02