I welded one for a BlueBird bus with some heavy gauge C-channel, and a 40-ton lunette ring. I added a 15-ton pintle hitch to the van for towing the bus.
The first 30 minutes of driving put is on some very rough Utah desert terrain. That little accidental outing (navigator error) made me a believer in pintle hitches for off-road use.
Next time around though I will just buy (or possibly duplicate) a mil-spec folding tow bar, like this.
Neither are lightweight options, but they'll take any abuse you can throw at them. The DIY route costs about $250 plus some of your time. Military bars seem to sell for $500-$650 give or take.