We tow a 2006 Honda CRV on a dolly and it couldn't be any easier. The dolly is very light and even though I have braces on both legs, I can move it anywhere. I store it underneath my Georgetown XL. I'm not sure about the Samurai. Its extremely small for the driving we do after we park the motor home. I guess as long as you feel comfortable on the roads you travel in it, it would be fine. We always seem to end up on a freeway. As far as towing it, you wouldn't even know it was there. The CRV is the same. I never know its back there. I have even backed up a couple of times and as long as you don't go far and travel slowly, it backs up fine.