Do you have a towing service such as CoachNet, AAA,FMCA? If so, call them and get it towed especially with the fault code you see. A pro towing service will know how to inflate the bags, release the brakes and how to remove the driveshaft. Don't let them pull an axle to tow it. No need for a flat boy.
The trans is already in neutral, no biggie there. The brakes will have to have some air or the tow driver can manually release them. The tow driver will hook up an air line which will release the coach brakes and give him control of them from the cab of the wrecker
A RV experienced towing service is well worth the $110 a year cost. One tow could cost you 600 plus out of pocket without a towing service.