Go to the Remco Towing site (Google it) and enter the make, model, engine, and tranny info for your "Towed" canididate, they will tell you what you need to tow it.
NOTE: At most you have a 5,000 tow rating.. Likely less, I do not know how much the pick up weighs.
Tow rating is the lesser of: The rating on the hitch (IF you tow straight, if you use a drop/rise adapter to get the hitch points to line up the rating goes down.... FAST... and no I do not have the chart)
and the difference between the Max Combined Gross Vehicle Rating of the motor home and it's loaded for travel weight, In my case 4,000 pounds.. I tow 2,500
Home is where I park it!