You should just be able to put it in flat tow mode and it should be fine.
Just be sure to install a tire pressure monitor for the Jeep up in the MH cab. If you get a flat on the jeep and the tire decides to shred, you could drag the Jeep for miles without realizing it. You'll also want a brake controller for the Jeep, as well. You don't want close to 5000lbs pushing on the hitch every time you need to stop.
These folks recently bought a used GC to tow behind their motor home and have had good results: