I believe that the older models may be able to be towed that way - the 1987ish versions. It would have to be one that is standard shift and does not have the electronic transfer case. Best bet is to call your local dealer - I always went to my transmission tech with these questions. The most popular vehicle to tow behind a motorhome is a Jeep Wrangler. It's a less complicated 4X4 system and more reliable than the older Bronco II's.
Good Luck
Good Luck