We tow a 2014 Jeep Overland - the owners manual printed is not up to date ( it's the 2012 system and was not rewritten for 13 or 14) we use Blue Ox and when I hook-up I place the shifter in neutral, press the release to release the drive train, check it by shifting to reverse to be sure it's in neutral then back to park, it stays in neutral until the engine is stopped and automatically goes to park. That's it - takes less than 30 seconds.
We have flat towed the Overland more that 10,000 mile since we purchased it in July.