Just make sure the MH end of the tow bar is slightly higher than the Jeep. A friend of mine towed his TJ with the MH lower than the Jeep. He had to make an emergency stop and the TJ came up and into the rear of his coach. Didn't hurt the jeep but it ruined their trip and did $8000 damage to the MH.
Now if he had listened to me, the hitch would have been correct and my extra Brake buddy would have stopped the Jeep.
I towed a 2010 Unlimited Rubi with 3" lift and 35" tires with no problems except whenever I went past a trail leading into the mountains, I could feel the Rubi dragging it's tires to get me to stop and run the trail.
Now, with my enclosed trailer, my built and stretched LJ on 37's doesn't see the trails.