I flat tow with a tow bar I got from Walmart (rated 5k lbs). Comes with brackets that have to be bolted to a bumper and I have a flat plate bumper so just drilled and bolted them on. I tow enough that I rigged a plug to hook into the rear harness that then connects to my tow vehicle (a 2003 V8 Explorer) for the lights. I disconnect the rear driveshaft if I'm going more than just around town. My Bronco is lifted so for the issue with the bumper being high I use a drop down reciever flipped upside down so it's actually a raised up reciever for the tow vehicle. I know that drop recievers are probably designed to go down but I feel that with no toung weight on the ball that it's still plenty strong. I don't disconect the stearing or tie anything to the stearing wheel either, the wheels will caster just fine as long as the stearing system and geometry are correct.
When I'm on the interstate it tows great and I feal comfortable all the way up to 75ish MPH, but I don't go much faster than that even when I'm not towing. Sometimes when turning sharp the front wheels will scrub a bit but not enough to bug me. I can back up straight pretty good as long as I go slow and watch the wheels to make sure they don't caster sideways. If I do need to back it up and turn it sharp I have always had someone else available to stear the wheels to keep them rolling in the right direction.
For me, flat towing is easy enough with my only complaint is disconecting the rear drive shaft and you will hear diferent opinions on here but I tend to lean toward the better safe than sorry.