That manual is nuts!!! It shows with 2wd you can tow behind an RV with the rear on a dolly and the front on the ground on page 193.
Then on page 194 it says to not tow an AWD with any wheels on the ground, yet they show a pic with an "RV" using a dolly with the rear end on it and the front wheels on the ground with NO red circle???
So what is it? Go to page 615 about the "emergency" section and they show and say different things???
So, yes, I would have no idea what to do either? Been looking at the **** manual for 15 minutes now and still can't figure it out!
In the end, I'd just not figure on being about to tow a RAV4 with any wheels on the ground...
My wife has a 2003 RAV4 4wd and the manual (which is only 271 pages total) clearly shows that you can't tow it with any wheels on the ground..
Good luck!
Mitch