Forget what the dealer says, or anyone else for that matter. What is important is your warranty. Check your owner's manual. It will clearly state what is permitted and how to do it if permitted. If towing is not permitted, and your drivetrain dies, it's all on you.
2007 Damon Daybreak 3060, Ford 16,000# Chassis,
Ford C-Max Hybrid Toad , Suzuki V Strom 1000cc