According to the extensive procedure outlined in the owner's manual, your 2019 Ford Ranger is capable of being flat towed.
In order to tow the vehicle behind your motorhome, you'll need base plates like part # RM-524459-5, a tow bar like the Roadmaster Falcon 2 all terrain tow bar, part # RM-522 and safety cables like # RM-643.
You'll also need to wire the vehicle so its taillights operate in tandem with those on the motorhome. To do this, I'd recommend a diode system like # RM-152-98146-7.
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