Are you within the towing capacity of the Lexington? Combined Gross Weight of 20,000 lbs for both vehicles minus the Gross Weight of the Lexington 14,500 gives you the tow rated capacity. This means you can tow up to 5,500 lbs but the hitch is only rated at 5,000 so you should not go over that. As long as you're not over the combined total you will be fine. As for towing the Jeep, check in the owner's manual of the Jeep. It should give you some guidelines about towing it.
2007 Georgetown 370TS
aka - RAYNMKR