Because all automatic transmissions from Toyota require the pump to be continuously lubricating the moving parts being driven by the driveshaft.
This is according to Toyota's Dave Lee, a senior engineer and towing specialist.
With automatic transmissions and pump-dependent manuals, the output shaft isn't being lubricated unless the vehicle's engine is running, and severe transmission damage can occur if they are towed with the driven wheels rolling along the highway, turning the driveshaft or, in the case of front-wheel-drive cars, the half-shafts.
Just get a driveshaft decoupler and you'll be fine. Much easier than unbolting and tying up the driveshaft every time you hook it to your rv, then re-attached when you arrive at your destination.