Check what your RV's hitch can handle for tongue weight before getting too far. Some class C's have rather limited tongue weight limits due to the length of the RV and hitch.
I would think a Miata would be perfectly capable of poking a fairly light car hauler trailer around a campground. The owner's manual (as with most cars in the USA) will say never, ever think of towing anything anyplace, but it's actually not a terrible tow vehicle for modest trailers—the biggest limitation is the weight capacity of the rear suspension, apparently. At any rate, moving a trailer a fraction of a mile through a campground at campground speeds is entirely different from trying to haul it across the country on an interstate.
A tow bar is lighter, has a much lower tongue weight, and is a lot quicker and easier to hook and unhook and store than a trailer. It does require more initial work to set up in the car.
A dolly is lighter than a trailer, a little heavier than a tow bar setup typically, also has a low tongue weight. Like a trailer, it works with a wide variety of unmodified vehicles, many of which cannot be towed with a tow bar. (A dolly will tow virtually any front-wheel-drive vehicle. The Miata, of course, is not front wheel drive, but would be towable with a dolly if and only if it is also towable flat—which I think is doable at least for manual transmission models. Consult the owner's manual under "recreational towing" for the official lowdown. Many AWD vehicles cannot be towed with a dolly, even if they can be flat towed.) A dolly is rather more annoyance to hook and unhook than a tow bar, maybe ever so slightly easier than a trailer, and is certainly more easily stored at a campsite due to its smaller size.