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Using a number of 3000 miles, and assuming your RX may only get 15 (or less) miles per gallon when towing another 3000 pounds, that would be roughly 200 gallons of fuel at an average of, what,.....$4.50 per gallon that would be $900 just for the fuel, plus the cost of the hitch ($300?), plus motel rooms for at least 5 nights at $100 per night. that looks like $1700 ( adjust all the numbers I used as needed) IF the transmission is not serviced, ($300?) or damaged ($3-5,000?),...and not in the least,.....the possibility of an accident goes up dramatically since you will be pulling a vehicle that is close to the weight of the vehicle you are towing with ,.......(tail wagging the dog) and relying on your RX brakes to stop nearly twice the intended weight in an emergency. Just sayin.
Thought about doing this with a low range Nissan Leaf and 60 miles of road. The Leaf comes in at 3400lbs, and I've already got the tow hitch. I would just need to rent a U-Haul dolly. The steel dolly pushes it out of spec limits.
It looks like I might have the tow package as I followed some steps on other posts to check for the radiator in front of the drivers side tire. Fuse box Drivers side radiator behind bumper
IMHO, you can tow the VW. Just don't drive through cities with heavy traffic and high mountains...