Bumper pull as in a tow bar, or as in a flat bed trailer? I'm guessing you mean tow bar. If so, then I have no personal experience but, from what I understand you want the tow bar to be as level as you can make it. This will avoid ill handling. If the tow bar goes from a lower level at the jeep up to the hitch on the motor home under braking this can cause a slight lift under the rear of the motor home. If the tow bar goes from the jeep and goes from a higher level on the jeep to a lower level on the motor home this can cause the jeeps front tires to lift off of the ground and push down on the motor home.
I suck at explaining myself so I hope this make sense to you. Other than that I don't know what equipment to use. I'll bet Reese or Draw-tite will have some answers for you.
Just be aware that many states are requiring the use of a Brake-Buddy device (applies the brakes on the towed vehicle) for flat-towing. These are kind of expensive, but probably cheaper than a trailer.