Use an mchitch , used to leave it off except for when I actually was towing , and even pulled into dealer once with it on and the never said a word .. I think it depends on the dealer , but they are getting pretty nitpicky now ..
Bunkhouse will be a good pull for the RG , I had a Time Out , was over 400 empty , and pulled pretty easily , still got 35 mpg running 70-80 .. Pretty certain the Bunkhouse is heavier ..
mine is well out of warranty and the esp expired , so no worries anymore here ..
just be sure and get load equalizer wiring harness , powers directly from the battery
So Many Highways So Little Time