Toyota RAV4 Owner's Manual page 614

614
7-2. Steps to take in an emergency
Towing with a sling-type truck
Do not tow with a sling-type truck
to prevent body damage.
Towing with a wheel-lift type truck
From the front (2WD models)

Release the parking brake.
From the rear

Use a towing dolly under the front
wheels.
RAV4_OM_OM42873E_(EE)
From the front (AWD models)

Use a towing dolly under the rear
wheels.