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Take a look at your owners manual and see what it says about towing a car equipped with an automatic transmission with the drive wheels on the road. Usually the rule is that it should not go over 30 MPH or more than 30 miles with the engine off. Once I towed a car with an automatic transimission a long distance with a tow bar. I kept it idling in neutral to keep oil going to the bearings. If they dry out they can get a lot of wear and then the transmission may lose oil pressure and not shift into gear at idle speed. I've heard that overfilling the transmission with fluid is another way to protect the bearings during towing.
So, to answer your question, the transmission should not be damaged if you keep under 30 MPH when you have the engine off.
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