Toyota 2014 Venza Owner's Manual page 432

5-1. Essential information
Towing with a sling-type truck
Towing with a wheel lift-type truck
From the front (2WD models)
From the front (AWD models)
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Do not tow with a sling-type truck
to prevent body damage.
Release the parking brake.
Use a towing dolly under the rear
wheels.