David Hall is correct. The drive shaft on for short trips is OK. Long tries, it needs removed. The reason for removing is to save the transmission from future issues/destruction because it does not receive the proper lubrication.
For this reason, long hauls require removing the driveshaft. And draining most trans oil. Nothing messier then oil running out after pulling the drive shaft.
put on a trailer if the tow vehicle is suitable to carry the load.