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 tipsFront speed sensor
Components
Removal
Hint:
Use the same procedures for the lh side and rh side.
The procedures listed below are for the lh side.
Disconnect cable from negative battery
terminal
Caution:
Wait at least 90 seconds after disconnecting the
cable from the negative (-) battery termin ...
Diagnostic trouble code chart (2006/01- )
Hint:
When the air conditioning system functions properly, dtc
b1400/00 is output.
Hint:
*1: Dtc b1422/22 (compressor lock sensor circuit) is
indicated only for a currently occurring malfunction for 2grfe.
*2: Compressor and pulley for 2az-fe, compressor and
magnetic clutch for 2gr-fe ...
Passenger side buckle switch circuit malfunction
Description
The passenger side buckle switch circuit consists of the occupant
classification ecu and the front seat
inner belt rh.
Dtc b1771 is recorded when a malfunction is detected in the passenger side
buckle switch circuit.
Troubleshoot dtc b1771 first when dtcs b1771 and b1795 ...