Towing a car with automatic gearbox

Keep the front wheels off the ground. Flatbed is the best way.

You don't say what year. Keep the drive wheels off the ground. Use a dolly to suspend the driven wheels.

For those with motorhomes, a tow dolly is the simplest and safest bet. You load the car with the driven wheels on the dolly, and they don't turn while towing. Safe for all automatic transmissions - unless the car is all-wheel drive.

Get a set of magnetic taillights, and follow the instructions for securing the wheels and hooking up safety cables, the Highway Patrol gets really annoyed when you lose a car on the freeway... :-O

And put a hitch on the car so it can tow it's own tow dolly, perfect for dropping the motorhome off for service.

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Drive wheels can not spin!

To verify yourself, you can go to Toyota's web site and look up dinghy towing in the owner FAQ's if you are thinking about towing with all 4 wheels on the ground. If you are talking about towing behind a tow truck, look in your owner's manual.