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Can the electric parking brake be disengaged / turned off without accessories on to allow dolly towing ( front wheels off ground) behind motor home?
 

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Have you checked your manual? In my book for the 2012, there is a section on towing the vehicle, with notes and rules. I think it was toward the end of the “driving” section.
 

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Read your manual, only FWD(2WD) models can be dolly towed, all wheels must be off the ground for dinghy towing an AWD Rav4. The auto EPB can be turned off, also covered in the manual.
 
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