Toyota does not approve towing of any of its automatic transmission models. However, I know of people who are towing 4-Runners and Lexus in 4WD Neutral with no problems except battery run-down. That can be fixed by removing fuses or installing switches. It remians to be seen wheher thee is any longterm damage from doing this. However, it is for sure that Toyota will not honor any transmission warranty claims if they find out about the towing.
You may be able to get a drive shaft disconect for a 2WD drive model. Contact Remco Towing
>> It remians to be seen wheher thee is any longterm damage from doing this. However,<<
There is for sure on the Lexus...The first year that they came out they were approved by the factory for towing at 55 mph....The next year they were not approved after so many transmission failures probably due to towing over 55 mph.