I know there have been discussions on the FJ Cruiser previously on the forum but my foggy recollection seems it needed a driveshaft disconnect.
While you're waiting for somebody to respond, I'll try to go back and dig up some of the old threads on this topic.
eta:
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It kind of sounds as if it needs at least rear driveshaft uncoupling. It kind of sounds as if they are being towed without issue once the rear driveshaft is manually removed (somebody said it was "easy" or easier than most vehicles) or an actual driveshaft disconnect being installed so you can disconnect without removing.
But let's see what those who are towing them say.