GL Perry is the one that talks about using a tow bar to drag trucks home from a distance.
I called a tow truck to drag my two big trucks home, but it was only 4 miles so that wasn't a big deal.
You might also look into a tow dolly. You loose the advantage of trailer brakes, but you also loose a few thousand pounds of load. You just need a dolly wide enough for the front wheels, and in a pinch the fronts can be used as spares it you need them. And you only need one tire on each side in the rear to move an empty truck.
