My 1997 Sidekick says: Steering Wheel Unlocked, Transfer Case in Netural (very important), Tranny in 2nd, front wheel hubs in Free. If you have auto front hubs than you will need to replace them with manual. The only caveat is they want you to stop about every 300 Miles and run the engine for a couple mins. without changing the setups. It will be the same for your Samurai. Your spedo will register towed miles.
1999 Tradewinds 7372 Cat 3126