To try to answer your specific question, the TYPE of vehicle, i.e van, compact car, big SUV, has very little to do with ease of towing as long as it is not too heavy for your RV. HOW that vehicle is towed, i.e. 4 wheels on the road (4down), tow dolly or 4 wheels on a trailer, has everything to do with towing convenience. As you have discovered, tow dollies can be a bit of a pain. It really does not matter what vehicle is on the dolly.
What vehicle you tow depends on what YOU want to drive once you arrive somewhere. The connection process is the same for any given setup, regardless of what vehicle it is set up on. Different tow bar styles make towing simpler or harder, but I can not tell you which are which. Different brake systems for the toad make setup different.
Some cars can be towed 4down, some need modifications (trans pump) to be towed 4down, others can NOT be towed 4down. Remco Industries web site is the BEST source to see if a specific make, model, engine, trans, drive, etc is towable. The owners manual is the ultimate authority. There is also an annual guide that lists current model year vehicles that can be towed 4down.
I hope this helps.