No, a 2002 S-10 4x4 should
not be towed behind a motorhome without disconnecting the driveshaft. Towing a vehicle with the driveshaft connected can severely damage the transmission. The transmission's internal components will be turning, even though the engine isn't running, leading to significant wear and tear, and potentially catastrophic failure.
While some vehicles are "flat towable" (towable with all four wheels on the ground), the 2002 S-10 4x4 is not designed for this. It requires either being towed on a trailer or having the driveshaft disconnected before flat towing. Consult your owner's manual for the correct towing procedure, or a professional towing service for guidance.
