If you decide to drive it back, I would limit the driving to what is necessary to get home without any extra side trips. Also, when I recover vehicles, they only get started and shut off one time each day and that is equal to the number of days it takes to get home. Cycles (starting and stopping) are usually when something breaks or when you find out it is broken. That point was driven home to me when the starter in my M929 crapped out two weeks after I got home, or after being started about 4 times. If you are on the road, it's better for it to break at a hotel where you can stay temporarily if you need to, then at a fuel station or restaurant where you have to deal with moving to a place you can work on it or getting it towed.
It's a good idea to have someone go with you and to have a chase vehicle. I also have my helper drive the chase vehicle back. I thought about towing it, but if something happened and I creamed the vehicle I picked up, I didn't want to total my chase vehicle in the process. I just figured the extra fuel cost as cheap insurance. If I didn't have a helper, I would tow the chase vehicle.
Good luck.