Just follow the directions in the owner's manual for towing the Cherokee and you will be fine.
We copied the pages on the copier and enlarged them and put them in the glove box so that we can refer to them each time we hook it up as a TOAD.
We also used Roadmaster base plate and the sterling tow bar. Been happy with our choice.
Happy travels...
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Sent from my Atari 2600
2011 Sunseeker 3170ds "Ladybug"
2017 Jeep Grand Cherokee TOAD
Days camped 2015: 37; 2016: 66; 2017: 86 2018: 57 2019: 30