We tow our 2011 RAV4 Sport automatic 4WD four down. In stock form, the RAV4 automatic transmission is NOT towable, however
Remco Towing sells an add-on electric pump kit that circulates the transmission fluid while the vehicle is in tow. We've towed two RAV4's now, a 2002 and the current 2011, for a total of about 40,000 miles with no problems. You'll also need a base plate for the RAV to hook the tow bar to, a tow bar, and an auxiliary brake system to complete the tow package. We use a Blue Ox base plate and a ReadyBrute Elite combined tow bar and brake system. Of course, all of that assumes your coach is rated for towing at least a 3500 lb load in the first place.