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I don't think anybody has answered the question. Not is 1 or 2 axles better for towing, but does 2 axles and 4 tires have say twice the rolling resistance of 1 axle and 2 tires? I wouldn't think twice as much as they will be carrying 1/2 the load and can be done with lower mass axles, wheels, and tires compared to a single heavy duty axle, wheels, and tires. It will be more though but any of this is small compared to potential aero drag of what you put on the trailer, or the huge hit you get crawling around off road even without a trailer.
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