No, you should
not tow a 2000 S10 Extreme pickup 5-speed behind a motorhome without disconnecting the driveshaft. Towing a vehicle with the driveshaft connected can cause serious damage to the transmission. The transmission will be turning while the wheels are not, leading to internal damage and potential catastrophic failure.
Always consult your motorhome's and the S10's owner's manuals for proper towing procedures. They will specify whether the vehicle is towable, and if so, the proper method (often requiring a supplemental braking system and disconnecting the driveshaft).
