First check out this site to see a list of cars you can tow 4 wheels down.
Downloadable Dinghy Guides | Motorhome Magazine
We tow a 2016 Ford Focus using the Falcon Tow Bar and Stay-N-Play breaks. Hooking the car up takes me around 5 minutes and I don't really feel it behind me as I'm driving. It did cost me around $3500 for the set-up.
I did start out using a ACME Tow Dolly. With the dolly you have more options on what cars you can use, but does take longer to hook up and unhook. You also have to stop and check the straps and I have had a strap break and come loose. I like the flat towing better (4 wheels down), it gave us more peace of mind.
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