We looked into towing a Toyota Venza a few years ago, it may have even been in '09, and if I remember correctly, when we asked the dealer about it he printed out something off his computer that basically said it could only be towed in an emergency and then only in limp mode, stating that maximun speed could not exceed 35mph and to not tow for more than 30 minutes without stopping and starting the engine and letting oil circulate in the transmission for 5 minutes. In other words they really weren't promoting towing. And this was for all Toyotas, not just the Venza, and needless to say we decided to look for something else. I would not risk the expense of repairing a car that I may damage after being told by the manufacturer and companies that make towing accessories that it's not possible to tow the vehicle I was hoping to tow. I understand that you already own a Venza and so you would like to tow it, we were lucky in the regard that we didn't own a vehicle we wanted to tow and so we were looking for 1 to purchase. Good luck in your decision and if you do find a way to tow the Venza let everyone know, I'm sure there are others that would also like to do it if it proves to be possible to do!
Steve & Nancy
2005 Itasca Sunrise 33', W20 Chassis, Ultrapower, Henderson Trac Bar
2012 Chevy Captiva Sport AWD, ReadyBrute Elite Tow Bar, Blue Ox Base Plate, Protect-A-Tow