Your vehicle is not designed to be dinghy towed (with 4 wheels on the ground) behind a motor home.

NOTICE
To avoid serious damage to your vehicle
Do not tow your vehicle with four wheels on the ground.
Trailer towing tips
Interior featuresSystem Diagram
SYSTEM DIAGRAM
1. DOOR BUS LINES
2. CERTIFICATION BUS LINES (w/ Smart Key System)
3. AIR CONDITIONING BUS LINES
4. SUB-LIN BUS LINES
5. DRIVE MONITOR SWITCH BUS LINES (w/ CRAWL Control)
...
Disassembly
DISASSEMBLY
PROCEDURE
1. REMOVE FRONT NO. 2 AXLE INBOARD JOINT BOOT CLAMP
(a) Hold the drive shaft lightly in a vise between aluminum plates.
(b) Using pliers, remove the front No. 2 axle inboard joint boot clamp
as shown in the illustration ...