Can a 2000 Ford Ranger 5 speed not 4x4 be towed behind a motorhome without disconnecting the steering?

I have a 1999 Mazda B4000, 5 speed manual transmission, rear wheel drive. Basically the same vehicle. It has been a great tow vehicle behind my Motorhome. In mine you simply turn the ignition to the on position which is before the accessory position and vehicle ignition. Lights, radio, etc do not activate but this allows the steering to unlock and the truck simply follows behind the Motorhome with the truck in neutral. My tow harness and truck base plate are Blue Ox which was about $2700 installed as I included light hookup so my truck brake lights, signals, running lights are activated simultaneous with the Motorhome. It’s pretty clear in your truck manual.