This is a subject that comes up on every site dealing with hauling and trucks, and I've never seen a clear answer. I think thats because there is no clear answer, because of the variety of laws, and the way the laws are interpreted. By common sense, and by many state's laws, you are non commercial. Its a personal vehicle and you aren't paying your friend for the trip. BUT...depending on the state, and the local officials, THEY may consider you commercial. Some states say that its only non commercial if you are hauling YOUR property with YOUR vehicle. Well your friend is hauling YOUR property with HIS vehicle. They can get more detailed: are you paying him? If you are buying his fuel, or even his lunch, you may be considered commercial by some rules. "Giving him a few dollars for his time" would definitely be considered commercial.
Then there is the interstate vs. local laws. Most states have different laws regarding interstate commerce vs. local, and have different policies for an out of state driver coming through on the interstate vs. a local driver on secondary or local roads. To keep rules simple, most states agree to a set of rules covering interstate highways. But as soon as you leave the highway you get into local laws. Its hard to keep track of every state's laws, and some can be very confusing and make no sense. So stay on the interstate to keep it simple.
Don't always believe everything you hear, and this includes law enforcement officials. No disrespect meant to any on this forum, but leo's are human, and have human defects. Some will tell you what they think, and state it as fact. You can get 3 different answers from 3 different officers, but the only one that matters is the one who stops you. Get all the info you can, but only use it as a general guide. You might be able to get info from different state's web sites and print it out. I've had to do this many times myself because of clueless officers.
Good luck with the recovery. We used my father's 1-ton Chevy and 10-ton lowbed trailer to haul home my 2nd Deuce from N.J. and didn't have any problems. We saw quite a bit of law enforcement on the trip and they didn't pay any attention to us. We saw many loads behind 1-tons (and smaller) that stood out more than ours.
Jim