those rav 4s have a dedicated tow bar.
Its acceptable to tow a 5 speed rwd with the rear tires on the ground for a very short distance. The gear oil in the transmission goes to the rear of the transmission due to the angle on the tow dolly. This causes certain gears not to be lubricated and can cause a transmission failure. Removing the driveshaft can solve this problem. I recommend getting a trailer from u haul or somewhere else, when they ask you what your going to be towing, tell them a 1980 toyota starlet, very small light car. I told them I was going to tow a Honda Prelude and they did not let me rent a trailer saying 2000lbs is the max weight, when in reality the tires gross 2500lbs each with 4=10000lbs -2000-2500lbs trailer weight= 8000-7500lb vehicle weight capacity.