I installed a Remco pump on our 2011 RAV4 Sport, along with a Blue Ox base plate and have towed it for about 10,000 miles with no issues. We also towed our 2002 RAV4 about 35,000 miles with the same setup, and also no issues. Our dealer has not mentioned any potential warranty issues, and has even been looking into offering the pump and base plate sales and installation as a service to motorhome owners. They took lots of pictures of my installation for reference. Note that Blue Ox only lists the base plate for the Sport (the last I checked), but the base model and the Sport have identical front ends, so it should fit both. Only the Limited has a different grill opening layout where the base plate might not fit without some ugly body work.
Oh, and neither our car or motorhome insurance carrier know or apparently care that we're towing the car. Our car insurance agent does know we tow though.
