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 tipsCustomize parameters
Customizing function with intelligent
tester (reference)
Hint:
The following item can be customized.
Notice:
When the customer requests a change in a
function, first make sure that the function can be
customized.
Make a note of the current settings before
customizing.
When tr ...
Tire and wheel system
Inspection
Inspect tire
Check the tires for wear and proper inflation
pressure.
Standard cold tire inflation pressure:
220 kpa (2.2 Kgf/cm2, 32 psi)
Using a dial indicator, check the runout of the tires.
Standard tire runout:
1.0 Mm (0.039 In.) Or less
Rotate tire
...
Data list / active test (2006/01- )
Read data list
Hint:
Using the intelligent tester's data list allows switch,
sensor, actuator and other item values to be read without
removing any parts. Reading the data list early in
troubleshooting is one way to save time.
Connect the intelligent tester (with can vim) to the
...