Check your owner's manual.
We had a 2003. Blue ox towbar. Straight forward. Hook up towbar, attach safety chains, put transmission in park, put transfer case in neutral, turn key one click.
Get a braking system. Brake Buddy is good. Run a dedicated 12 volt line to the toad for the braking system.
And, a tire pressure monitoring system.
We would use walkie talkies with me sitting in the jeep for a bit while DW drove a few miles to be sure that every thing was okay. After a few times we'd just hook up and go. Probably towed the toad about 15 k miles and no problems.
Plan your stops with some care because you cannot back up. Maybe a few inches, but not much more.
One thought about lights, we had a direct hook up with diodes to use the Jeep's lights, which was fussy. Now, I would just use a lightbar with magnets.
We sold the Liberty. We have a towing cover, covers grill area, hood, fenders and windshield, for the Liberty in the garage if you're interested.