Currently I tow a 2014 Jeep Grand Cherokee Overland. Shift into neutral, push a button, put it in park and off you go. When you arrive, shift into neutral, push a button, put it into gear and off you go. About as simple as it can get. When you put it into neutral the odometer is disengaged so no tow milage is added to the car. Overland and Summit models have a far better ride as the have an air bag supension. Also, be sure to get the right transmission.
I have approximately 55,000 tow miles on this Jeep, with 115K driving miles on the odometer. Other vehicles i have towed are a Honda Accord (back when you could), Mercury Mariner (same as Ford Escape, went through 2 transmissions), Jeep Wrangler (definitely not as comfortable as the Grand Cherokee, but easier to drive off road)
What would I get for a new tow car -- another Grand Cherokee, without hesitation, but i would also consider a Ford 150. What would I get if I didn't have to tow it -- lots of other choices since there are a lot of cars that can't be towed which are more dependable than Jeeps.