toyota 4runner towing needs

I tow a 1994 Toyota 4WD pickup, manual transmission, 4 down. It's the Tacoma size, but the use of "Tacoma" did not start until maybe a year later. The owner's manual says no, and says no to dolly towing as well. I have contacted service departments at two dealerships and they told me I can, as long as all 4 wheels are on the ground, and I do NOT put the transfer case in neutral, but leave it in 2WD high. Just put the tranny in neutral, leave the key on so the streering wheel does not lock. I have been doing that for several years, about 8,000 miles and no issues. They did tell me not to use a dolly, as the front wheels have to be turning to keep things properly lubed.