DW and I use a Master Tow dolly also, da! without brakes. Don't even know its back there. Use the Ford tow haul mode when encountering long or steep down hills. Never have had a problem storing it at a campsite. I pretty much got it down pat that most times I can have the care on and tires strapped in 5 minutes, off is even quicker. However, if I was full timing or at least retired and spending maybe months at a time in the RV than I would have a four down set-up of some kind.
2011 Georgetown 330TS
RAV4 on MasterTow Dolly