I tow a 97 Wrangler TJ 2 door behind my 34' endura; I bought a new bumper for the jeep from Garvin Wilderness Racks and I love it; the tow bar is just a rock solid simple fixed length non-adjustable tow bar and when you want to hook it up to the jeep you just line up the 2" box reciever and slide it in and then pin it on each side where the clevis pins are; you can see a picture on their customer gallery; my jeep is the one on the very bottom left corner;
http://wildernessracks.com/gallery.html
I also have tried several supplemental brake systems (which are required in WA state when towing a vehicle behind a motorhome); And the one I have now and love is the Roadmaster Brakemaster proportional system; Take my word for it and spend the money, its worth it; my local shop wanted almost a grand to install it so I devoted a couple days and installed it myself;
After towing with this brake system for quite a while now I would never tow a vehicle without supplemental brakes;
Good luck with your hunt and happy rving!