They make the frame, tow mounts for most vehicles - definitely Jeep. Look at Demco's site for tow bars and the frame selection.
"Light and easy to use, tow bars are one piece of a three piece set you'll need to safely and efficiently tow a car behind your motorhome. First is a tow bar, which is shaped like the letter "A" and connects to both the towing and towed vehicles. Both the top and bottom of the "A" is what you'll attach to the tow vehicle, and each requires an adapter of some sort. One is the receiver hitch, which is attached to the back of the towing vehicle, in this case your motorhome. Fortunately, most motorhomes already have these installed. If you don't have a receiver hitch, you'll need to purchase and have one installed."