Can I tow a jeep?
I flat tow an '04 Wrangler. I put the transmission in neutral, select neutral on the 2H, 4H, N, 4L transfer case, and then put the engine back in gear. When the transfer case is in N, the engine started, and a gear selected (I try D or R on my automatic) my Jeep will not roll when all the ducks are aligned. I have an automatic transmission but the process is the same with a standard transmission. If you do not have a transfer case then I suggest your Jeep will not flat tow. I would ask the dealer. I did go to YouTube to get the steps to tow my Wrangler.
The thing you are looking for is to convert the toad into a trailer that will effortlessly roll.
Also I encourage you to have a supplemental braking system. If the toad comes adrift from the MH and there is no provision for an emergency break-away brake I shudder at the totally and royally ruined day or even week I will suffer while picking up the pieces.
I suggest that if you have to disconnect your driveshaft in order to convert to a toad that will rapidly become a HUGE inconvenience. True story: When I'm towing a toad I do not have reverse. There have been a few times where I needed the toad disconnected to get back out of the too tight confines of a gas station. There are not hours in a day to get me under the toad, hook-up the driveshaft, and move the toad, all while being in a rainstorm. I haven't tried this and I bet you will not relish the experience! My MH is a gasser. I guess if it were a diesel rig I might never find myself in a too tight situation. YMMV