I bought a used Sidekick (auto, 4wd) with about 30k miles on it. I towed it using the exact procedure from the owner's manual. The gear train was still in great shape after 125k when I sold it. Transfer case in neutral, trans in park. Every 200 miles started engine, put trans in drive and ran for at least 1 minute. Turned off engine, put trans back in park. Yes, you have to wait for the trans shaft to stop turning before putting back in park. I would leave the driver's door open during the procedure to make sure I didn't forget to put it back in "tow" mode before driving off.
