Towing with the steering wheels on the ground is alright as long as youve got enough angle and you dont make sudden steering inputs, steering in the towed car is locked down as well as you can lock it, etc etc.
It takes a lot for it to be anywhere near as safe as doing it any other way. The only reason tow trucks get away with it is because they pick the back end WAY up and get a LOT of self-centering caster on the front wheels that way, plus they are WAY bigger than the cars they are towing.
In my experience, towing with steerable wheels on the ground with a tow dolley is tricky and unsafe.
