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Your starting point is the Sprinter owners manual specs for GCWR, GWR, and towing capacity. If you do not exceed all of those you will be fine.
__________________ 2000 Winnebago Ultimate Freedom USQ40JD, ISC 8.3 Cummins 350, Spartan MM Chassis. USA 1SG, retired;PPA,Good Sam Life member."We the people are the rightful masters of both the Congress and the Courts - not to overthrow the Constitution but to overthrow men who pervert theConstitution. "Abraham Lincoln"
If you go over to the Forest River motorhome forum, you'll find the Jeep Rubicon one of the more popular toads in their Solera area. I believe that Jeep is just a little heavier than 4,200lbs. Note that Forest River recently changed the Solara name to Sunseeker MB so you'll should look in both areas: http://www.forestriverforums.com/forums/f4/
2014 Forest River Sunseeker 2650S
2015 Ford Focus Titanium Hatchback DCT auto
I have a Winnebago View and tow a lifted 2012 Jeep Unlimited that is around 4500lbs. The hitch is rated @ 5000lbs. GCVW is 15250lbs. Just stay under the GCVW and the 11030 of your motorhome and everything will be fine. Don't forget to use a braking system in your toad and a charge line and a break away. When planing your trip look for long steep grades,(6% to 7%), unhitch and have someone drive your toad. It's better for your motorhome. A lot of folks in class c's do this, so its just not a sprinter thing. Hope this helps!