I tow mine with a Sterling all-terrain tow bar.
I like how easy it is to use and the fact that it attaches to the frame instead of the bumper. I run an RRC front bumper and have no problems with it interfering with the tow bar brackets. This picture shows the mounting points.
I'm having a skid fabricated that will mount in the brackets and function as a steering box protector as well as protecting the mounts themselves. I have a friend that runs a solid a-frame tow bar that mounts to the bumper of his Jeep. It was a lot cheaper than the sterling, but it usually takes him about 30 minutes of monkeying around to get the jeep and motor home in just the right position to hook up. It takes me about 1 minute because I just have to get close.