The following is a quote from the owner's manual:
"RECREATIONAL TOWING (BEHINDMOTORHOME, ETC.)
Towing – 2WD Models
Recreational towing is allowed ONLY if the driveshaft is removed. Towing with the rear wheels on the ground while the driveshaft is connected can result in severe transmission damage.
You can find the manual
HERE
2017 Tiffin Phaeton 40QBH
2014 Jeep Cherokee Limited