Best tow bar setup
First, check to be sure as I don't believe that an S10 can be towed unless you get a drive shaft disconnect installed. You can check that our at the RV-NET site or the one from REMCO.
The top rated tow bars are from Blue Ox and from Roadmaster. I would suggest that you buy a quality tow bar and the base plate made for it by the same manufacturer. It has always seemed foolish to me the number of people who pay many thousands of dollars for a motorhome and a tow vehicle, and then they try to find the cheapest tow set-up that they can find. If the two come apart the cheap system will get very expensive as the toad slams into the rear of the motorhome.
There are also many good quality brake systems for the toads. By far the most popular brake sustem is the one from Brake Buddy, which I have now used for seven years. We also tow with the Aladdin tow bar from Blue Ox.