Check Remco to verify that your Rav4 can be towed without a transmission pump, I don't know of ant Toyota that can be. I tow a 2010 Base 4WD, the pump, and Blue Ox base plate and light kit cost me $2500 installed in Houston, Tx. I really like towing my old Suzuki Sidekick better.
I guess you can back up anything you want, however you want, I backed a 10,000# boat on a trailer with surge brakes before in found out how to lock out the surge. Big 4x4 pickup in low range, but got it done. Look at the photo in the sig of the poster who suggested that you back by locking the wheel...is your front end as light as the old VW, will it slid sideways as easy ? I would recommend against it.
