If a two wheel drive, rear drive, yes, you'll need to disconnect the driveshaft (companies such as Remco sell a product to do this without having to crawl under it each time to disconnect or reconnect). If it's a 4X4, depends. If you have a transfer case, with a nuetral position, you can probably tow it (but I'd flat tow, if that were the case, and ditch the dolly). If it's an 'all wheel drive', you'd better check with the manufacturer.
Jay & Peggy Monroe with Dolly
Can't take it with you - don't plan on leaving any behind
2016 Newmar London Aire 4553, Spartan chassis
Wrangler Unlimited toad