Rent a car. Honestly. With hotwire, you can rent a car in most places for 20-30 bucks a day. If you need insurance, take on 10-20 bucks.
It isn't worth the PIA factor of trying to tow a SUV just to drive. Hell, the difference in GAS your parents pay to tow will about cover it. I am assuming this is a huge RV if you are considering towing it, which means a gas hog already... but over the mileage you are talking, towing several thousands pounds will add up in extra gas.
Plus. Pulling the drive shaft, being concerned your parents take a corner too sharp and scrap the **** out of your truck (happens!)... it isn't even worth it.
Final note. Don't tow in N. It is really bad on auto transmissions. Most people I talk to also comment that it is still moving the gears in the tranny, if even just the final, and without the pump on to move/cool the fluid, heat is going to build up. How much? I have no idea, but most people I know suggest it isn't worth the potential wear and tear.
That leaves car trailer (added expense) or butt off the ground, towed on front wheels. That adds wear and tear on the front suspension, as at that angle, more weight (different balance point) is riding on the front.
My personal opinion? Unless you are moving, and you just HAVE to get your truck out there.... the cost of a budget car rental is worth not worrying about all the crap you have to worry about to tow a car.