In Motorhome Magazine's Dinghy Guide, as mentioned, only the 4WD version of your car is listed as towable 4 tires down. Is yours 4WD? Check the manual under "Recreational Towing" (behind a motorhome), not "Emergency Towing" (or similar) which is if you break down.
Also check the weight rating of your motorhome as well as the hitch rating to be sure they can tow enough weight (car is over 4,000lbs). Hopefully the ratings will be 5,000lbs or more.
I have a Roadmaster Tow Bar, Blue Ox baseplate, and SMI braking system. To activate the braking system, I just have to flip a switch. You can often find used tow bars on craigslist. You can get adapters for the ends of the arms to fit a different brand baseplate if needed. That's what I did. You probably won't need to do this. I happened to already have a Roadmaster tow bar when I bought a used car with the Blue Ox baseplate already installed.