I was on a carrier, the Sand Lance (SSN 660) and Seawolf (SSN 575). I also served on the Canopus, sister ship to the Simon Lake and a handful of submarine staffs. I was a QMC when I got commissioned as an LDO.
I tow in park because I have always understood that you do not want the shaft to spin at all in the transfer case/transmission since lubrication is the main issue. With my Tundra in 2wd, the front axle is disengaged and allowed to spin free just as it does running down the road. I also found that as long as I turned the key from on back to off and did not pull it out, the steering lock remained unlocked. I always hook up to the coach before I disengage the disconnect. We are very careful hooking up to tow. I check and have my wife double check. The impact of missing something could be disasterous. I also recheck every time we stop. Since the Tacoma could be different, especially with a manual 6 speed, you may want to talk to Remco.
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USN, Retired
2020 Grand Design Momentum 25G
2022 Silverado 3500, 2007 Honda Goldwing
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