A summer RV road trip sounds like so much fun! Unfortunately you cannot flat-tow a Chevrolet S-10 behind your RV.
This is because there is no neutral position on the transfer case. As a result, the driveshaft is always engaged. Accelerating your flat-towed S-10 without engaging the gears will result in a destroyed transmission. If you must absolutely flat-tow a Chevy S-10, disconnect the drive shaft first to preserve the transmission.