I have a 2015 Jeep Wrangler w/ an automatic and I flat tow it.
I have a readybrake/readybrute tow bar which ties to the brake pedal to provide braking. I also have the wiring connected back to the factory connection (which is behind the glovebox) to operate the factory brake lights and tail lights, rather than diodes or auxiliary bulbs for the lights.
Baseplate, wiring harness, readybrake cabling (including emergency disconnect) and all parts and labor set me back $1360. I could have saved money and did it myself, but events at that time made it impossible.
The readybrute elite system set me back around $900
So the total cost was about $2260
As far as the process - put the transfer case into neutral, put the transmission in park (see owners manual for procedure) take out the ignition key, hitch up, and roll.