Tow a tundra

I am setting up the wife's Buick with tow bars for behind our RV, I kind of want to do it with my tundra too, anyone ever done this? I know it says not to in the owners manual, just wondering if there's a way to make it work without pulling drive shafts

 

Just pull a flatbed, with your tundra loaded up, behind your RV

 

I remember in the Manual reading that you can't RV tow with the Tundra wheels on the road and have to use a flatbed. I am not home but I am sure there are plenty of knowledgeable people on here who can correct me if I am wrong.

 

That's what I do now, we also have an enclosed trailer that fits either of the vehicles. I just like the idea of being able to tow instead of finding a place to leave my trailer