Front drive cars are usually towed by using a transmission lube pump rather than a drive disconnect. Remco Towing makes those, but does not yet have one for the Venza. Sounds like the disconnect from Drive Shaft King may be your only method (assuming they actually make one for the Venza).
2004 American Tradition; 2014 Buick LaCRosse
Homebase in the Ocala Nat'l Forest near Ocala, FL