The only vehicle that I ended up towing on a flat bed was my Charger. My little 4.0 Cherokee pulled a valiant, the Scamp, the Duster and my 240Z.
The Scamp did push the back end of the Jeep around a little, but I did it late in the evening, like 8:30-9pm and had tow lights hooked up. I put it in 4 low and kept winding it up through gears, most of my time was spent in 5th gear at 35mph, but it did just fine.
When I was pulling the charger on a flat bed, it also gave the jeep some grief, but it did have tow brakes, so that helped a lot. Again, that was with low/ no traffic going about 3 miles in 4 low.
If you've got a good truck to pull with and want to do it enough to offer a service, like getting cars running for people, etc., the least invasive way would be to get a tow dolly for a truck. This way you can haul B bodies and other classics, no problem. Most tow dollies are set up for RV pulling drivers, like saturns and the like. I'd tow from the rear and use a safety strap on the steering wheel to lock it. Even if it dog tracks, it won't hurt anything, as long as the wheel has a redundant strap/ safe hold.
If I were you, I'd go after a tow dolly, for your dirt roads and what you're doing, Rani.