Rule of thumb - If the transmission turns while towing, i,e. CRV and other automatics, start the engine and run it through the gears to lube the transmission. Jeep, and others, have a transfer case that, when placed in Neutral, disconnects the transmission from the drive wheels.
The transmission doesn't turn. I use a hot wire from the motorhome to the tow vehicle battery, fused on both ends, that keeps the tow vehicle battery charged. Never a dead battery.