In the last campground we were in, I saw a GMC 2500 pulling a RL3500 and behind that a dual axle 18-20 foot enclosed cargo trailer to haul their Harley. Wished I had took a pic. I was impressed that he got the thing in the campground as tight as it was, but couldn't believe the set-up. Being we were in Asheville, NC at the time, I would have hated to follow him up the mountains. But to your question, it can be done. Didn't look to see how his hitch was done, but he had did it.
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