I just set up a as a toad and 2011 SRX and just towed it 4600 miles from St Louis to California and back. I also am using a Roadmaster Invisibrake. On pages 9-106 and 9-107 in the 2010 owners manual it says how to set it up for towing by putting it in neutral and removing fuses. On my 2011 it says to pop the shift boot cover off, press the button in front of the shifter that releases the shifter and put the gear selector in neutral. It doesn't require pulling fuses. I'd look at your 2010 and see if it has the button under the shift boot. My Invisibrake installer said to turn RV parking lights on when towing to trickle charge the SRX battery. I also found out if I left the wiring between the RV and the SRX connected overnight the SRX battery would go dead.