Towing a Rav 4 Auto Trans

Of course we all know that Toyota never recommends towing one of their vehicles with an Auto Trans. My wife has a cherry 2001 Rav with 80,000 km. I was considering a Remco lube pump. I was glancing through her owner's manual and there was a chapter on Dinghy towing. One paragraph explains how to tow this vehicle behind a MH. Simple. Put it in neutral and turn the key to ACC. DONE!!Limited to 250 miles and then just stop and run for 3 minutes. I think it was also 55 mph.max. Being a doubter I called Toyota to verify. Yes my manual is correct. I asked if they were sure. Response was that if the manual says it is OK then it is OK. Yet a 2002 cannot be towed even though it is the same model transmission. I wonder why the discrepancy? Could it be that they approved but had some problems with the transmissions? Or did Corporate just decide it was a bad idea? I called Remco and they had no record of the car being towable. I am goiung to order a baseplate later this summer and try it in the fall. Could be a $2000 mistake?

Moisheh