That's from the Ioniq owner's manual.It is acceptable to tow the vehicle
with the rear wheels on the ground
(without dollies) and the front wheels
off the ground.
If any of the loaded wheels or suspension
components are damaged
or the vehicle is being towed with the
front wheels on the ground, use a
towing dolly under the front wheels.
When being towed by a commercial
tow truck and wheel dollies are not
used, the front of the vehicle should
always be lifted, not the rear.
I towed many miles with all 4 on the ground ( a Ford Escort Wagon and a Nissan Frontier Pickup). However, those were both manual transmissions and placed in Neutral for towing.
Many Manual Transmissions can be towed all wheels down, some Automatics can. Some require occasional stop and run the engine and transmission shifting.
Some use a device on the axle (front drive) to break the connection.
Check the towing guides.
Personally, I would not want to fool with a trailer of any kind (for 4 wheel or for 2 wheels) when arriving at a campground. Have to disconnect the trailer and find a place to park it (unless you have a pull thru camp site). Much easier to disconnect the car and park the motor home (back in or pull thru) and not have to worry about where to park an extra trailer or have to manually push the trailer around.
The ACC part is interesting because the manual also states that the car will automatically turn OFF after one hour. I wonder if that re-locks the steering wheel.They do say that the car should be towed on a flat bed or with the front wheels lifted. It goes on to say that if you must tow with all four wheels down,
from the manual:
If the car is being towed with all four wheels on the ground, it can be towed only from the front. Be sure that the transaxle is in neutral. Be sure the steering is unlocked by placing the ignition switch in the ACC position. A driver must be in the towed vehicle to operate the steering and brakes.
CAUTION - Dual clutch transmission
- To avoid serious damage to the dual clutch transmission, limit the vehicle speed to 15 km/h (10 mph) and drive less than 1.5 km (1 mile) when towing.
Before towing, check the dual clutch transmission for fluid leaks under your vehicle. If the dual clutch transmission fluid is leaking, flatbed equipment or a towing dolly must be used.