I've been doing it for years in my 04 Odyssey. No trouble. The manual's requirements for towing are probably the same as yours: below 35 mph, less than 50 miles at a time. I figure I can stretch the 35 mph limit a bit since i'm not EOC'ing for even 1 mile.
Other brands: check your manual for towing instructions. Hyundai I know for sure = DO NOT eoc.
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11-mile commute: 100 mpg - - - Tank: 90.2 mpg / 1191 miles
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