Hello fellow Taurus owner!!
I flat tow the car in my signature, 2013 SEL AWD so can offer some experience.
Your steering wheel does not lock, anti theft security is built into your key fob.
You tow with the engine off and there are no fuses to pull or changes required.
You do however need to leave your key in the ignition in order to leave the car in neutral. There is a key position one notch or click between run and the key removal position. When you turn the key to kill the engine just turn the key enough to kill the engine but not all the way to the key removal position. In that spot all your ACC functions are dead and no battery drain.
The reason you start and run the car for five minutes before towing is to lube the transmission. Rather than sit in one place and idle I use this time and the car to run the garbage to the dumpster, return empties to the recycle bin etc. This warms things up properly. I make sure the trip includes some backing up.
You should check on wireless tow lights. The rear LED lights are a complicated system and best not modified. My dealer advised against a diode system and pointed out that the tail lights run about $800.00 each and if damaged due to a modification warrantee coverage would be a problem.
I use wireless magnetic lights. I have put Velcro on the bottom of the lights and stand them up on the shelf inside of the rear window. This way they are inside, can't fall off or be stolen and are out of the weather. I did have some issues with the drivers side wireless light falling over as there is a child seat tether in the way so I put a pillow between it and the head rest, problem solved. No electrical connection required between the rig and the toad.
The Taurus is a great toad and I have many hours and miles on it behind my rig with no issues at all.
2006 Damon Challenger 348F Ford V10
2013 Ford Taurus SEL AWD
Blue Ox Aventa & Brake Buddy