If you're flat-towing a stock Samurai at reasonable tow speeds, unlock the front hubs and follow the rest of the factory recommendations, you'll be OK. I've towed 10K miles to Alaska and back without incident. Those roads are not high-speed US interstates. Disconnecting the rear driveshaft at the differential is ALWAYS the safest way to tow, although it can be a nuisance. PPilotMike correctly stated the issue with oil, and I'd speculate that 4th gear might also work.
A lifted samurai adds complications and raises the issue of knocking a shift lever into gear. Now that I've got a small 2" lift, I use a twin-stick Transfer-case shifter, which has a true (2WD) neutral. I've got an old back and don't want to be crawling under the truck every day of a three-month road trip. The split-H and reverse-S T-case shifters would work as well for true (2WD) neutral towing.