I wrote this step by step for my mom who tows a Cherokee. I will be towing a TrailHawk myself in a few weeks. You can ignore the steps to engage and disengage the brake controller unless you have an SMI Stay and Play.
https://1drv.ms/b/s!AuKCPV2_us-GnMF7LNr3dgRMQJimMQ
Preparing to tow the Jeep
Putting the transfer case into neutral
1. Attach the vehicle to the tow vehicle using a suitable tow bar.
2. Bring the vehicle to a complete stop on level ground, and shift the transmission to PARK.
3. Turn the engine OFF.
4. Turn the ignition to the ON/RUN mode, but do not start the engine.
5. Press and hold the brake pedal.
6. Shift the transmission into NEUTRAL.
7. Using a ballpoint pen or similar object, push and hold the recessed NEUTRAL (N) button (located by the selector switch) for four seconds. The light behind the N symbol will blink, indicating shift in progress. The light will stop blinking (stay on solid) when the shift to NEUTRAL (N) is complete.
8. After the shift is completed and the NEUTRAL (N) light stays on, release the NEUTRAL (N) button.
9. Start the engine.
10. Release the parking brake.
11. Shift the transmission into REVERSE.
12. Release the brake pedal for five seconds and ensure that there is no vehicle movement.
13. Shift the transmission to NEUTRAL.
14. Apply the parking brake.
15. Shift the transmission into PARK, turn the engine OFF, and remove the key fob.
Activating the Jeep tow harness to enable power steering
16. Wait for the bus to sleep; indicated by cluster turning off.
17. Flip the new toggle switch UP in the console box.
18. Insert the fuse in the harness.
The steering wheel should turn easily because the EPS is energized.
19. Flip your brake controller to the on position.
20. Turn the ignition to the ON/RUN mode, but do not start the engine.
21. Press and hold the brake pedal.
22. Release the parking brake.
23. Turn the ignition OFF, remove the key fob, and release the brake pedal.
Preparing to disconnect the Jeep
Take the transfer case our of neutral for regular operation
1. Bring the vehicle to a complete stop, leaving it connected to the tow vehicle.
2. Apply the parking brake.
3. Turn the ignition to the ON/RUN mode, but do not start the engine.
4. Press and hold the brake pedal.
5. Shift the transmission into NEUTRAL.
6. Using a ballpoint pen or similar object, push and hold the recessed power transfer unit NEUTRAL (N) button (located by the selector switch) for one second.
7. When the NEUTRAL (N) indicator light turns off,
8. release the NEUTRAL (N) button.
9. After the NEUTRAL (N) button has been released, the power transfer unit will shift to the position indicated by the selector switch.
NOTE: When shifting the power transfer unit out of Neutral (N), the engine should remain OFF to avoid gear clash.
10. Shift the transmission into PARK.
11. Release the brake pedal.
Deactivating the Jeep tow harness to resume normal operation
12. Make sure the engine is off and vehicle power is off and the cluster is off.
13. Remove the fuse from the harness.
14. Flip the toggle switch DOWN.
15. Wait for ? seconds (not sure how long; the EPS will continue to operate for a bit.)
16. Check that the steering wheel is no longer easy to turn.
17. Start the engine.
18. Make sure there is no check engine light.
19. Perform a steering wheel lock to lock maneuver to verify EPS function and relearn steering soft stops if necessary.
20. Flip the brake controller to the OFF position.
21. Disconnect the vehicle from the tow vehicle.