First thing to check is if you will be exceeding your RV's tow capacity. It looks like you have a "theoretical" 5,500lb towing capacity (GCWR-GVWR). The curb weight of your RAM will vary significantly, depending on engine, transmission, and body style.
Also the Falcon tow bar has a 5,000lb capacity, so it might need to be replaced, depending on the weight of the Dodge.
I am a bit conservative when it comes to towing, so I might not be the best person to talk to on this, but I like to put in a 20~25% margin of safety when I do things like this.
The best place to start is your owner's manual. Most have a section called "recreational towing" and will tell you what (if any) versions can be towed, and if any fuses, etc. must be pulled.
The only thing that works on a RV is the owner...