Do a search for
flat tow at Ack's FAQ (the link is in my signature, below) for a list of links mentioned above along with others that might prove helpful.
I would like to add three things:
No matter what anyone says, connecting a towbar directly to the stock Samurai bumper is an incredibly stupid thing to do!
You will rip the bumper off and destroy your Samurai.
Always attach a towbar directly to the front of the Samurai frame using the four bolt holes provided - two on each side. If you plan on bolting completely through the frame, be sure to use spacer tubes to prevent the frame from collapsing. I have successfully attached towbar brackets using the inside set of frame bolt holes.
I have actually "flat-towed" my Samurai. I always get underneath and remove the rear driveshaft using 14mm wrenches before setting out on a trip. When I get to my destination, I reattach it making sure that it is properly assembled if I accidentally separated the driveshaft. See
http://www.acksfaq.com/driveshaftvideo.htm for more information on this. It's a giant pain in the A$$ to operate this way, but if you don't flat-tow regularly, you don't need to spend the money on the Trail Tough rear driveline disconnect - an excellent product to use if you plan to DO a lot of flat-towing behind motorhome!
Nothing guarantees the elimination of potential driveline damage like disconnecting the rear driveline!
I hope that this helps!