Tow Bar
If I am not mistaken, that van has front wheel drive and is not towable with no modification. You will either need to modify it or use a dolly with the front, driven wheels off of the ground. You can contact Remco to see if they have equipment to tow it on it's wheels. But the other part of the question is the weight. I don't know what that van weighs, but I suspect that it is more than that motorhome should be towing. You need to check the GCWR and from that subtract the actual weight of the Itasca when loaded for travel. That will tell you how much weight you can safely tow. Also, make sure that your hitch is rated for the amount of the total weight of the van and the dolly.