I own A 2010 Ford Ranger with the manual 5 speed tranny. Using a Blue Ox tow bar system. Just turn the ignition swithch one click, put tanny in neutral, and away you go. Been towing since brand new. so far no problem.
Toad a 2003 Mazda B-4000 (really a Ranger) 4x4 with a 5 speed manual tranny. It is setup with Roadmaster Baseplates and arms and I use a Sterling Tow Bar and for brakes and even brake unit.