I've towed my 5 speed Rodeo over 50,000 miles before the tail shaft bearing in the tranny started to howl.

Go to a RV Store and ask them about tow bars and drive shafts. For Automatics there are add on slip joint that are remote operated that can solve the DS issue.
As far what you need for your application, we don't know. We can't tell what transmission you have in your Honda.

I wouldn't put all my trust in a single mount 2 inch reciever up front to handle all the stress of a towed vehicle. There are a lot of issues associated with a single mounting point tow bar. May work well for a yard tractor but not on a public highway. Not to mention the braking issue. My Rodeo has an air brake assist that ties into my Motorhomes brakes and applies the Rodeos brakes in conjunction with the MH's. Makes all the difference in the world and has saved my life more than once coming out of the mountains. Check out Roadmaster.com.

Why not consider a trailer with electric brakes? About the same money as a real tow bar & brakes system like the Motorhomes use. Not to mention how handy a trailer is to have around.

CJ