Well, an inexpensive option would be a rope and a tow hook.
But I guess that's the point. Even though inexpensive, it's not safe to tow your Jeep behind a motorhome for long distances at freeway speeds using a rope.
Yes, it is expensive to set up a toad. However, we all know that going in and realize in order to be safe, we need good baseplates, a solid tow bar, and a reputable supplemental brake system.
I'm not sure if there's any way to get around what baseplates are going to cost but as you know, the installation cost is where you can save. Install the baseplates yourself. You'll save a bunch if you can do that. If you have reasonable mechanical skills, you should be able to make a weekend of it and especially if you have somebody help you that knows what they are doing ...or even if they don't, it's always nice to have help.
You can buy a used tow bar but there are pros and cons doing that as we have discussed on several threads here over the years. Some say they wouldn't even consider buying a used tow bar. Myself, I'd consider it if the cost was right and I could get it evaluated and inspected. It may have to be rebuilt or certain parts replaced but you still may be able to save some by going that route than buying a brand new one which, again, is definitely expensive.
Same with the supplemental brake system. I've heard some have picked up a used BrakeBuddy for a good price and happy with what they got. If you choose a system that is hard-installed in the vehicle, new is probably better but those systems will tend to be more pricier than the ones you take out when you're not using it like a BrakeBuddy and similar systems. Installing the breakaway, again, is something you can save money by doing yourself.
And wiring for brake and tail lamps, again, is something you can save a lot if you can do it yourself. However, perhaps to save even more money, using a magnetic tow light kit can be less expensive than using diodes or wiring in an additional bulb socket in tail lamp assembly, etc. A magnetic tow light kit is about $30-40 at Harbor Freight and even noticed it on sale for $12 with a coupon at Harbor Freight one time.
So there are some things you can do to make it cheaper but you don't want to be so cheap as to be unsafe. Others, I'm sure, will chime in with more ways to save.