Looking for information and equipment to tow a 2009 Lexus gx470 behind our 2007 Monaco Knight dft

[Blacknight]

We just bought a 2009 Lexus GX470 SUV. This model is 4 wheel drive with a manual transfer case. The owners manual says they can not be dingy toad, however, I have seen RV sites that mentioned they were able to tow their GX470 without issue. I have not been able to get in touch with anyone that can provide any information. I will need to know all the equipment needed to add to the car and any additional operating information. Thanks Steve