We tow a small truck. 2009 Nissan Frontier, but not as small as they were till around 2004 or so. The current Toyota Tacoma is the same deal, more of a mid-size than it used to be. Same with the little Chevy/GMC. When Ford discontinued Ranger (2010?), it was the last of the mini-trucks.
I think the GM units are flat-towable with automatic and 4WD. Our Nissan is towable only with manual transmission even if 4WD. When we looked at Toyota in 2009, towing was not recommended regardless of powertrain.
A lot of us tow Rangers, but I don't know the in's/out's of the arrangements. I know 2WD manual is towable.
For me, OWNER's Manual governs. Not "salesman", "service manual," and even Motorhome Magazine. If Motorhome OKs a vehicle, it's supposed to be based on the manufacturer's position. But I'd still check. Not a Lube Pump fan either.