Your vehicle is not designed to be dinghy towed (with 4 wheels on the ground) behind a motor home.

■To avoid serious damage to your vehicle Do not tow your vehicle with all four wheels on the ground.
Trailer towingToyota CH-R Service Manual > Brake Booster: On-vehicle Inspection
ON-VEHICLE INSPECTION
PROCEDURE
1. INSPECT BRAKE BOOSTER ASSEMBLY
(a) Airtightness check
(1) Start the engine and stop it after 1 or 2 minutes. Slowly depress
the brake pedal several times.
If the pedal can be depressed nearly to the floor the first time, but
on the 2nd and ...
Toyota CH-R Service Manual > Brake Control / Dynamic Control Systems: Rear Speed Sensor
Components
COMPONENTS
ILLUSTRATION
*1
REAR AXLE HUB AND BEARING ASSEMBLY
*2
REAR DISC
*3
REAR DISC BRAKE CALIPER ASSEMBLY
*4
REAR FLEXIBLE HOSE
*5
REAR DISC BRAKE DUST COV ...