Its a lot easier on both the towed vehicle and the towing vehicle to use a tandem axle trailer with electric brakes in my experience.
I've used a chain, a nylon tow rope, a tow bar, a dolly, a trailer and a tow truck.
In most cases the trailer is by far the best choice in my own humble opinion. Second choice is a tow truck.
Backing a car on a tow bar is amusing to watch but not to do. I've backed a car on a dolly and sure don't think its easiy or any fun. Its also high risk for causing damage.
I finally broke down and bought a trailer and have never regretted it.
