I've been trailering my Jeep behind our class C for many years without a problem. I used to flat tow, but trailering suits my needs better.
I chose our 26'C because it had the E450 chassis on the smallest MH available. Same chassis as the longer 29-31' C class, but with less overhang and more unused capacity. The next smaller size is on an E350.
I also added some welds along where the hitch meets the frame to make me feel better. The factory hitch mounts with large bolts only.
It was a compromise because I would rather not have the rear corner bed that comes on the 26'. When I upgrade, I will be looking at Super C motorhomes, but my set up has been working for me. At least 7 other friends in my club are also trailering Jeeps with their class C.