The best way is in an enclosed car-hauler van, also known as a race trailer. A good brand is Featherlite. Note these are available in two widths and several lengths, so you can order exactly what you need.
Car Trailers - Bumper Pull Car Trailers - 1611 Car Trailer: Specs & Features
The problem with an enclosed car hauler is tongue weight. Most motorhomes are short on payload capacity, so if you're like most RVers, you don't have enough unused payload capacity to haul the hitch weight of a wet and loaded enclosed car hauler trailer with both a Jeep and a Hawg on board.
So, drive to a truck stop that has a certified automated truck scale, fill up with fuel, then weigh the wet and loaded motorhome. Subtract the weight of the motorhome from the GVWR of the motorhome, and the answer is the max hitch weight you can have without being overloaded. Divide that max hitch weight by 0,15 and the answer is the max GVWR of any trailer you should consider.
If you don't have enough GVWR to tow an enclosed trailer that's wide enough and long enough for your needs, then forgetabout the enclosed trailer and consider an open car-hauler trailer. Erect a plywood barrier about 4' high in front of the Jeep, and secure the top corners of the plywood to the floor on the sides of the trailer. Featherlite makes an open car-hauler trailer that's up to 24' long. so that should be long enough to get both the Jeep and Hawg on it.
If you don't even have enough unused payload capacity to haul the hitch weight of a loaded open car hauler, then forgetabout towing both the Jeep and Hawg behind the motorhome.