First, as always, read the Owners Manual, paying particular attention to "Recreational Towing" (if it is even addressed in the book. It might not be, because the manufacturer didn't expect that truck to be towed).
Offhand, I would say it is NOT towable. Eventually, you WILL ruin the transmission. IMO, you will need either a driveshaft disconnect or a lube pump. Either will really ruin a $1000 bill!
Even though I am not much for "ratings", I agree this may be too much truck for your motorhome. You REALLY need to weigh the truck, as loaded for travel, before you go any further, and compare the actual weight to the towing capacity of your coach. As stated, you will probably need a 10K capacity towbar!
Good luck.
CM1, USN (RET)
2017 Jayco TT
Daily Driver: '14 Subaru Outback
1998 Dodge QC LWB, Cummins, 5 speed, 4X2
2 Kawasaki Brute Force 750 ATVs.
Pride Raptor 3 wheeled off-road capable mobility scooter
"When seconds count, help is only minutes away!"