There's a HUGE amount of information and discussion accumulated over the years about flat-towing. Some time with the search function, here and elsewhere, will reward you with the best advice. In a nutshell:
1) The stock Samurai transfer case leaves 4WD engaged when in neutral, thus spinning the front driveshaft, already at a steeper angle and steeper still with a lift, through the rear driveshaft. NOT GOOD! The front driveshaft is intended for low-speed 4WD operation only. If you break the front U-joint (steeper angles=more stress) at speed on the Interstate it can do a lot of damage. You'll never detect a problem beginning to occur from your towing vehicle. I've unknowingly towed bad wheel bearings for hundreds of miles -- live and learn, and pay.
2) The towbar should be level or slope down to the towed vehicle. I use a 4-inch drop receiver on the motorhome, upside down, to raise the towbar to keep it level when towing one of mine.
3) The absolute safest way to tow a Zuk is to remove or disconnect the rear driveshaft (at the differential) and wire/tie it up. That will work for your long trip. When you get there, you can easily reconnect and implement your flat-towing solution for your motorhome.
My Zuk has a small 2-3 inch lift on 29" tires. My towbar has come up to now being level, so I'd need to do something different with more lift or larger tires. Suzuki recommends 2nd gear and T-case Neutral, but I now use twin-sticks (true 2WD neutral) and 4th gear. When I once left the shifter in 2WD-High for 60 miles it saved the engine. To get some splash lubrication, I start and run the Zuk in gear and T-case Neutral for 5 minutes, before pulling out while towing. On a long tow day, I'll sometimes run it again later while gassing up or taking a break.
Edit: To re-state the towbar angle issue, the mounting point height for the towed must be lower or equal with the mounting point on the towing vehicle. A curved towbar does not accomplish this. I suspect, without knowing, that the reason is to keep the towed from overriding the towing vehicle during sudden deceleration. If true, a towbar curved in the vertical axis does nothing to solve this need. I got all my tow gear from Blue Ox (the towing company), and their representatives were quite insistent on this requirement. There's some additional good information on their website. I have too much at risk to argue with the professionals.