We chose a Honda CRV because it is advertised as "towable". We are a die hard Toyota family but none of their "towables" met our needs. There are directions in the CRV's owner's manual on towing behind another vehicle. We neded no "kit" installed as stated above, other than the tow harness. In fact, our dealer refused to modify it at all. We requested a fuse kill switch to be installed. If you tow long distances, for long periods, you need to remove the fuse for the radio - a next to impossible task that requires near acrobatic skill, while lying on your back, under the steering wheel! If you do not do so, you may find yourself with a dead battery; it happened to us.
Otherwise, it's a great tow vehicle and we are more than happy with it as our primary vehicle.
The ease of hook up and unhooking depends upon your towing system, not the vehicle itself. We chose Blue Ox for a number of reasons, one of those being the ease of hooking and unhooking - 3 or 4 minutes max.
Another consideration is a brake assist system for the toad. Their use is controversial and probably another whole thread topic. Although they are mandated by laws in many states, many RV users have discontinued their use, or never installed them at all.
Be aware that some new car warranties are voided if you use the vehicle as a toad and it is not condoned by the manufacturer,