I towed my 1998 4x4 manual across the country and I disconnected the driveline (this is what the dealership recommended). I also marked the two pieces that were disconnected from each other so that they could be lined back up without a problem. The front wheels were on a car dolly. It worked fine. Pretty easy, only like 5-6 bolts... There may be some differences on the new models. I have an '06 now and I haven't tried it on that. Good luck.
I put the tow plate on the Tacoma several thousand miles ago and have pulled it all over the country. I just remove the 4 bolts on the driveshaft and double bungee the shaft to the frame. Takes just under 6 minutes start to finish. No problems.