i found it best to have someone in my Tahoe at the steering wheel when I had to back up any distance. The steering wheel is of course always unlocked for towing. With the engine running she could maintain the wheel in the straight ahead (back) position and I could back up several feet, even make a slight curve without any problem. Just nothing fancy.
I many times found myself in the position at a Flying J to have to park behind a truck and then have to back straight out when I wanted to leave. I never had to uncouple to get out of this situation.
Yes, 4 down is the easiest and quickest way to tow.
No hassels with storing a trailer or dolly...
If you have to back up its quick to release and connect a roadmaster or blue ox tow bar.
I have been in some situations, and was able to backup with the jeep a few feet. enough to be able to complete a turn.