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 tipsRear center seat outer belt assembly
Components
Removal
Caution:
Wait at least 90 seconds after disconnecting the cable
from the negative (-) battery terminal to prevent airbag
and seat belt pretensioner activation.
Remove shoulder belt anchor cover rh
Using a screwdriver, remo ...
Front passenger occupant classification system
Your vehicle is equipped with a front passenger occupant classification
system. This system detects the conditions of the front
passenger seat and activates or deactivates the devices for the
front passenger.
Seat belt reminder light
Srs warning light
“Air bag off” indicator light ...
If a warning light turns on or
a warning buzzer sounds
Calmly perform the following actions if any of the warning
lights comes on or flashes. If a light comes on or flashes, but
then goes off, this does not necessarily indicate a malfunction
in the system. However, if this continues to occur, have
the vehicle inspected by your Toyota dealer.
Actions to ...