First thing you need to do is determine the type of tow bar you want to use. There are fixed arm bars that are quite inexpensive. The two drawbacks are: The difficulty they present of hitching to the motor home easily, especially if you try and do it without a spotter, and most folks want the tow bar removed from their towed vehicle instead of having the folded towbar sticking up in your field of view which BTW is illegal in some states.
An adjustable arm tow bar is much easier to hitch up, and they stay on your motorhome so no storage issues as with a fixed arm. The drawbacks are they require some maintenance, and they are quite expensive.
Either way however, there are tow bar adapters to work with your shackle brackets. The photo below are the ones I use with my Metalcloak bumper and they are made by Blue OX. Blue Ox, Warrior Products, and Reese make a different design as well, but they all do the same thing... allow a standard tow bar to use the D-ring shackle brackets for the mount point.
I recommend the CooltecLLC.com wiring harness for JKs. It is a simple plug into the existing wiring harness design, and you won't need diodes or anything else for simple turn. brake and running lamps when you tow.
I believe every towed vehicle should have a supplemental brake system. Many folks don't feel the need. If you fall into that category, check your RV manufacturers towing specs. Many RVs specify supplemental brakes for anything being towed over 3500 lbs, even though the hitch has a 5K rating.
One more important tidbit... no matter what type of tow bar you use, it needs to be as level as possible. There are up/down hitch adapters available from 2 to 10" so getting it level should not be a big problem.
Now the really bad news... It's not cheap to set this all up. I DIYed the job, hunted for deals, and spent right at a thousand bucks to set up my '13 JK. If you have it done, plan on at least another grand, and more likely $1500.
Before you fully decided whether you need a supplemental brake system or not, I encourage you to read this... The Physics of Towed Vehicles.
Here is a link to a review with pictures I wrote on the supplemental brake system I chose... US Gear Unified Tow Brake (UTB) Review