Tom i've tried with AMA to tow a non registered rig. it needs to be in your name, and licensed and insured. the ways around this i've found, instead of being honest, ist to slap a plate off one of my jeeps onto it and play dumb. the tow guys don't overly care if its reasonable. not like they will pull plates. but if you have a registered jeep and they show up to tow a jeep they don't care. (usually) its a liability thing for them if they do something stupid.
Cjust, does the jeep run and drive? just call insurance and get it insured, then drive it down. they give you a few weeks for a grace period and a recent bill of sale is sufficient for registration purposes.
or get insurance at AMA they do not require an insurance inspection. and at this point if you don't have an AMA GOLD membership that should be your FIRST mod.