Towing a RAV 4 2011 base with a 2003 Four Winds Majestic 23P

We would like to tow our Rav 4 2011 Base with our motorhome, a 2003 Ford F-350 SD XL 2WD DRW, Four Winds Majestic 23P. I would like to ask about: (a) Is this a good idea? We know why we want to ...