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Here we see the Cerritos and the Merced next to the massive Generation Ship they were tasked with carefully towing to a starbase.
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And here we see the Cerritos on her own, towing a massive Orion Destroyer thar was without engine function.
No, neither were shown at warp, but we can assume, given what we know, that they used warp drive to arrive at their locations.
Two examples of 1 or 2 Starships towing something of significant size.
I can already see the reply in my mind, "those aren't that big!"