Yes its that old chestnut, is it legal?

Car A is escort cab, moted, disabled tax..
Car B is a pug estate, all legal

Can car B tow car A using a solo A frame? from 1 point to another. There will be no steersman for the towing car and will be fitted with a light board.

The internet is giving all sorts of mix messaged and the car needs to moved by this saturday.