I would prefer the tow Bar. After the bar is unhooked, it easily folds up and is out of the way. It is also the lowest in price. There are three types of tow bars. Rigid, Self Aligning, and Car mounted.
The rigid tow bar is solid and extremely sturdy. It does require two people to use this particular type of hook-up; one to drive the vehicle and one guides. It is the lightest of the tow bars and the least expensive.
The Self Aligning tow bar allows one person fast and easy mounting or removal of the tow bar. The tow bar adjusts to the vehicle position and will extend to the full position as you pull ahead with the motorhome. It is very user friendly.
The Car Mounted has a quick release and is easy to remove. If you leave the tow bar connected to the car there is the possibility of damage occurring. With the tow bar in front of the car there is the prospect of hitting a car in front of you or running into a pole. Also, with the tow bar on the car it does have a cosmetic effect.
I would say in your situation the self aligning tow bar should work out fine. I would have this professional installed by an RV facility that does this on a regular basis. I see Many RV's every day and the majority use tow bars it is not to often you see the dolly used and I think it is because it is a hassle to use. Hope this helps.
Thank You! Please hit ACCEPT for my efforts, Positive feedback and BONUS welcomed!!