Not sure what you mean by "auxiliary brake actuator", but you do need to have some mechanism for braking the toad, so that your minimum stopping distance is not compromised (and it's also legally required in many states/provinces). This is usually called a "toad brake" and there are several brands & models available. They do NOT require the sort of "brake controller" that trailers use, but there is some hook-up to do. Just what that is depends on the brake system chosen.
The two basic types are the permanent install type (e.g. SMI Duo or AF1) or the portable type (Brake Buddy, RVi brake, etc).
2004 American Tradition; 2014 Buick LaCRosse
Homebase in the Ocala Nat'l Forest near Ocala, FL