My Dad just told me of an insurance available that will take care of getting your rig home (and perhaps where you want it) when the primary driver/setup person has medical issues. It was around $100 per year. He was going to get it so his wife was not freaked out that something would happen to him and she would have to figure out how to do everything. Dad is 84 and his wife is 78 so the peace of mind is worth it.
My wife can pretty much do all the setup and take down, and she drove semi trucks for a number of years and would have no problem towing.