Just put the car in drive and start towing should be possible, in theory. But after a quick search on flat towing a Tesla, the company doesn't support it. It is pointed out that regen charging while towing would be inefficient in discussions, and doing so would put additional strain on the towing equipment and vehicle frames than what an already heavy car would do.
It is also unnecessary, at least in the US. RVs make use of 50 amp power outlets while parked, so campgrounds will be well equipped with them. The Tesla portable EVSE(charge cord) has multiple adapters available for different outlets, and the car is supplied with the one for 15 amp home outlets and the one for 50 amp RV ones.
Early adventurous Tesla owners actually made use of RV campgrounds as charging spots. For other BEVs, you can get a corded level 2 EVSE with that RV plug.
For those doing more off the grid RVing, the RV itself will have a sizable generator. Heck, Volvo is planning on offering a diesel powered fuel cell to replace such generators on sleeper trucks. So higher efficiency and lower emissions when that comes to past. Ideally, you would charge the car from the generator/fuel cell while the car is being towed in order to have it fully charged on arrival, and to avoid some load juggling while powering the RV and charging. That will require some software updates to the car.
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