Hello I will help you with your question,
Yes if you disconnect the driveshaft you can leave those wheels on the ground and tow the vehicle without damage.
Be sure to mark the shaft so it can be reinstalled the same way it came off
Let me know how I Can help you
Thanks, XXXXX XXXXX they would have said that in the manual instead of just saying no.
The lawyers had a hand in writing the manual.
As long as the driveshaft is not driving the transmission you will be fine.
Please let m e know if you have further questions