This is a loaded question that always starts a heated discussion of the usefulness of supplemental brakes.
Many threads on RV forums too on towing Jeeps.
I used to flat tow our 04 TJ behind our 26' Class C for years. You need to have the tow bar as level as possible. Mine Jeep is lifted, so I wanted to have the least possible rise on my MH hitch. So, I opted for Roadmaster's removable XL frame mounts. They mount below the bumper on the frame. Everything can be easily removed, except for the two pieces that attach to the frame. For the towbar itself, I used Roadmaster's cheapest simplest offering "Tracker" towbar. I am not sure they make them anymore. You can get some pretty fancy towbars these days with auto connecting gizmos on them, but I chose the simple route.
I never used a braking system. I have seen some burnt and ruined brakes from auxiliary brake failures. Never had a problem. Allow a greater safe following distance, and look far ahead while driving. I have been accused of trying to kill off families and endangering the world's population by not using them. That's today's world, so be it. How many of those old Willy's and CJ's that were running around with a towbar on the bumper decades ago had aux. brakes? Zero. My Grandfather did not do a very good job of killing me! lol.
Depending on what state you live in, you just might have to have them. My state, they are not required.
Anyway, I trailer these days in case I break something, but here is my old towbar set up. The last pic you can still see the mounts just below the bumper. It worked great.
Good luck, Happy Camping!