Can you tow 1999 Cadillac Escalade behind motorhome?

Assuming you mean flat tow, it depends. If it's 2WD, you'd need to remove the driveshaft - manual transmissions weren't an option for this vehicle. If it's 4WD, that depends on your transfer case. IIRC, all the Escalade transfer cases were electronic shift... if it's a three button setup (2 HI, 4 HI, 4 LO), then no... if it's a four button setup (2 HI, 4 HI, 4 LO, NEUTRAL), then yes - you simply put the transfer case into the neutral position.