Being a retired powertrain systems engineer for Toyota Motor Manufacturing USA, I can assure you Toyota puts a blanket statement in ALL their owner's manuals that states their vehicles cannot be flat towed behind a motorhome, and have done so for the last several years.
If it is a manual transmission, 2WD, FWD or RWD it can be towed 4down. I do not recommend towing it on a dolly with the rear wheels on the ground since the vehicle will be at enough of an angle as to pool the transmission lubricant toward the rear of the transmission leading to a possible lack of lubricant being splash circulated to the front bearings on the main shaft and auxiliary shaft. It can be towed 4down if you can find a base plate from a quality manufacturer to fit the car.