Flat Towing 1st Gen

I seen others ask this question but I've not seen a definitive straight answer yet. I have a Tundra 06 automatic 4x4 double cab (in great shape). I will soon be living on the road for a while and plan to tow a vehicle behind a motor coach. If the rear drive shaft is disengaged on the 06, can it be towed without damage with the front wheels on the ground? Or does the front wheels need to be off the ground? Is the answer to my question any different in any newer model Tundra or Tacoma? Ideally I'd like to tow the 06 4 down with drive shaft disengaged.

Thank you for any help.

 

I really want to help and also curious what people do to modify the vehicles being towed. I see a lot of other 4x4 behind motor coaches, but really did not investigate. I did do a lot of flat towing with a 2WD with manual transmission up to 500 miles at a time. Placed the gear in neutral and away I go. But never did a 4WD and automatic.