OP here: Toyota says no of course, however, after reviewing lots of posts on this and communicating with those that have been doing so for years and many thousands of miles, I am comfortable towing either with one caveat. The vehicle must have a transfer case with a Neutral position. The 4Runner I had in mind has the electronic selector and won't work. All the early Lexus 470s, however, have the right setup so I'm likely buying an 04 GX470 and will rig it to tow. Both Remco and Roadmaster sell the baseplate. I already have a Roadmaster tow bar that I've used on three other toads so I'm good to go. Thanks to all.
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