I flat-tow all the time. I have trailered a few times and I don't like it much. My tow vehicle (Jeep ZJ) can barely manage the extra weight of the trailer under the car, and I don't like loading trailers. Plus, I don't have anywhere to keep a trailer or a tow dolly now.
I got a heavy-duty A-bar tow unit designed for dragging Jeeps behind other Jeeps, and a set of magnetic tow lights. In Virginia, you're not required to be registered or inspected, and brake controllers aren't required until the vehicle in tow is over 3K#.
Flat-towing and dolly-towing are one-way streets. You can't back 'em up to any useful extent. It won't back like a trailer. So, plan ahead before you decide to pull into that 7-Eleven parking lot.
I have been counseled that it is risky to tow with a hitch ball that's too high or too low; the A-bar needs to be parallel to the ground. So, I got a receiver hitch insert with the right amount of drop, and the bar is level.
I have flat-towed a 2400# car and a 3200# car behind a Jeep ZJ. There was good braking, comparable to what I get with a trailer w/ surge brakes towing the same car.
Some manual transmissions can't take towing with the drive wheels on the ground unless the driveshaft is disconnected, or the motor is turning the input shaft with the transmission in neutral so the lube gets sprayed around. Other manuals can take it. I go with disconnected driveshaft sometimes, and I go with the motor running at about 1.8k RPM sometimes. The steering wheel must be unlocked and free to spin.
Biggest hassle is figuring out how to attach the A-bar to the vehicle in tow. I think this is why tow dollys exist. There are aftermarket solutions for tow-bar attachment; they are vehicle-specific and often pretty expensive. The tow-hook mounts that come stock on most cars aren't up to the job. They're just designed to winch the car onto a wrecker or do some low-speed stuff with a strap.
I welded up my own attachment bar out of square tube. Attaching it or detaching it takes 15 minutes of squirming around on the ground, which is a pain in the booty. If there was an aftermarket solution available, I would've bought it to avoid the hassle, but I can't find one for my track cars.