Hi Jim and welcome to iRV2. The best place to start is the owner's manual that came with the car. It will tell you what the manufacturer allows when it comes to towing. This is the only place, I know of, where it is stated in writing. If the manufacturer says no towing with the drive wheels on the ground, there are three choices.
1. tow dolly - This choice assumes the front wheels are the drive wheels. There are several makes of tow dollies on the market. Go here
to see one manufacturer and the choices offered.
2. Transmission lube pump. Go here
to see a sample of what Remco offers.
3. drive shaft disconnect The above mentioned Remco link will also tell you about drive shaft disconnects.
Based on my signature, I use both a dolly and tow bar. It depends on the trip as to which vehicle I tow. There are +/- to both methods. The bottom line is personal preference and how you interact with the tasks that must be completed to tow.
The best advice I can offer is to find a dealership or two close to your location. Go and see the devices. Have them demonstrated. Then you try what the sales person just demonstrated. This usually answers the questions you may have about how you will do the various tasks. For some, the dolly is a bit much to handle when hitching and unhitching. For the 4 wheels on the ground, different components take different amounts of time and complexity to setup and tear down.
If you decide to tow with 4 wheels on the ground with choice 2 or 3, you will need a base plate, tow bar, electrical hookup for the towed vehicle lights and supplemental braking for the towed vehicle.
If you decide to go with the dolly, the dolly can be purchased with brakes and lights. There is no alteration to the towed vehicle.