I believe this is the manual for your 22R, if you did not get this with your Motor Home you can print it here. There are several things to consider, as this is not a simple question. Pay close attention to Chapter 12, and you need to find your Yellow DOT sticker, It will list your GVWR, (gross vehicle weight rating) , and you will want to weigh your vehicle to make sure you are not over this number. Once you know that you need to determine your GCWR (gross combined weight rating). or in other words how much your motor home and towed vehicle weighs. Lastly you should look at your hitch rating, is should be labeled with the Hitch Class, max towing weight and max tongue weight. Lastly, you will need some sort of braking system in the vehicle you intend to tow.
If you need it here is a link for your manual, find your Minnie Winnie in the list.
https://www.winnebago.com/owners/own...r-manuals/2019