Your vehicle is not designed to be dinghy towed (with 4 wheels on the ground) behind a motor home.
Notice
To avoid serious damage to your vehicle
Do not tow your vehicle with 4 wheels on
the ground. 
To prevent causing serious damage to the transmission and dynamic torque control awd system (awd models)
2Wd models: never tow this vehicle from
the rear with the front wheels on the
ground. This may cause serious damage
to the transmission. 
Awd models: never tow this vehicle with
any of the wheels on the ground. This
may cause serious damage to the transmission
and dynamic torque control
awd system. 
Trailer towing tipsReassembly
Install wiring harness clamp bracket
Install the bracket with the bolt.
Install elbow tube
Install straight pin
Using a plastic hammer, install the 4 straight pins to
the rear differential carrier.
Thoroughly clean oil and water from the surface of
the rear different ...
If you think
something is wrong
If you notice any of the following symptoms, your vehicle probably
needs adjustment or repair. Contact your toyota dealer as
soon as possible.
Visible symptoms
Fluid leaks under the vehicle
(water dripping from the air conditioning after use is normal.)
Flat-looking tires or uneven tire w ...
Data list
Hint:
By reading the data list displayed on an intelligent
tester, values can be checked, including those of the
switches, sensors, and actuators, without removing any
parts. Reading the data list as the first step of
troubleshooting is one method of shortening diagnostic
time.
Notice:
In th ...