We towed our TJ over 75000 miles with an A frame type tow bar. These work great and are cheap, but are a real PIA to try and hook up by yourself. Most recently, I switched to a Blue Ox set up... very easy to hook up with telescoping arms.
I will put in a plug for supplemental brakes. I hope you folks considering towing 4 down will read this... RV Camping -Towed Vehicle Supplemental Brakes
Disagree....Vehicles have brakes that are designed to stop the particular Gross vehicle weight rating of the vehicle they are on in a specified distance, and not an additional 3500 pounds pushing on the back. You never know when someone will cut you off or a kid will run out in front of you no matter how much you try and stay out of dangerous situations. Most states, including CA have laws requiring brake systems on towed vehicles. (in CA it's 1500 pounds or more).Nice scare tactic on that link there. I will not argue that sup brakes are good to have, but they are very expensive. If someone is towing with a vehicle that already weighs as much as that RV then supps are necessary.
If anyone has towed boats, which can easily weigh as much as a jeep, and expecially salt water boats, then your trailer brakes have a tendency of not working too well, and sometimes not at all. From my experience over the many years, the thing that allows you to get away without the supp brakes is the braking ability of your tow vehicle. And the terrain, and the drivers ability to stay out of dangerous situations.
Slow down, keep out of trouble, makes sure your tow vehicle brakes are tip top, be more careful downhill, and you can do it safely.
If you plan on towing not following the above sugggestions, then get the supp brake system. JMHO