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Lengthening the tow bar absolutely helps with this!
I like to run it as short as will work. Shorter = stronger.
But even at full length they are rated for 14,000 lbs.
Actually, the older manual DID suggest using a second driver for the disabled vehicle.
BRACKET TOWING
They later revised it though.
As for tow truck drivers tying the steering wheel.
We only do that if you are pulling the vehicle backwards. That way you have the steering wheels track straight...