As many have said already, the 2014-up Ford F150 4x4 supports "recreational towing" mode which places the transfer case in neutral. Its set up from the dash 4x4 knob - no manual anything. Recreational towing mode displayed on the dash as long as you are in it. You can get a roomy crew cab 2.7L eco boost turbo model which weighs under 5000lb curb weight which is the limit on some motorhome hitches.
The key is left in with ignition in steering unlock position. You can still lock the doors with the other key/remote (I assume the keyless system offers equivalent but mine has the key fob).
Ford should provide an option to control the lighting externally but that still requires customer mods.
I set our 2016 F150 SuperCrew Cab FX4 2.7L up with the Stay In Play Duo braking system. Flip a switch and its on - no clunky floor unit to move around and connect. I also installed lighting relay switchover that puts the motorhome in control of F150 rear brake and turn signals whenever the stay&play is on. Also used trailer wiring to add Aux +12 to charge toad battery (through appropriate safety breakers) and added a F150 braking indicator LED, driven by the F150 3rd brake light circuit, at the motorhome dash. At night, I put the F150 lights on park to have running lights while Toading. (did not modify running lights, which I would do if doing it over).
We have done several thousand miles with no issues. Occasionally, the battery monitor on the truck has given a message but it goes away on startup and driving.