Agree, I can not see how an A-frame causes any aditional stress on the actual suspension and wheels, if anything its about the least stress you can get because they simply following...

Personally, I think towing a car on a trailer can add more stress, especially if it is strapped wrong and move to much/.
AFrame towing is solid, no stress other than that on the bolts.

There are several causes why a wheel would fall off. But I've never heard of a tow-bar being a problem.

how will it place more stress on the front wheels? enough to cause a wheel to "come off"?

a friend of mine used this method for about 5yrs to tow his car for track days it resulted in stresses over the front that one of the front wheels went off. its not a very good way of towing

mount it lower
aka the tow points

A frame towing used to be very popular here. I myself was thinking about this to get my 1200 to the track. One drawback that did occour to me was that the captive nuts for the bumper bars on 1200s aren't as sturdy as a more solid old school car.

Yeah, its a Hilux 4X4, need to drop that things hitch big time, will take some pics of the bar over the weekend when I make it. Lucky for me one of my customers has a light board that will fit on the rear parcel shelf of the B110 so no need to do any wiring or anything like that

No need to cut it. Just bolt the tow-bar A-frame to the original bumper holes, the bolt the bumper bar above the A-frame on little tabs that come up. All done.

And safe too, regardless of what some rule book says. Use professional and competent welds. Modern tow dollies are safe too as they have their own brakes. But they add a lot of weight to the tow.

You may want a drop hitch depending on how high your two vehicle is.