Mid-size, it would be 4WD Colorado (but not predecessor S10/S-15, which were compact). Some 4WD Dakota models were towable, those that had dual-range transfer cases with a neutral selection.
Compact, it would be manual transmission Ford Ranger (and Mazda clone), late 1990s to the end of Ranger production. 2WD, 4WD, it didn't matter, the M5OD transmission itself was OK for a couple hundred miles before needing to be spun in neutral to splash lube around. I towed a 2001 Ranger for several years, mileage limitations not an issue because I was towing it 20 to 50 miles at most.
Nissan Frontier manual transmissions were also OK, but I don't know the model year range.
Toyota says "NO" but I know folks who had no problems pulling their old (pre-Tacoma) manual transmission Toyota pickups 20 to 100 miles at a stretch. Here we are talking about 20-30 year old trucks with 100,000 to 200,000 miles on them, nobody worried about whether or not Toyota will warranty this use.