Need to know if possible to safely tow a 2001 Rodeo for long distances w/o disconnecting the drive shaft.

 

Short answer, no.

The transfer cases dont have a neutral position like alot of other manufacturers. You would need to pull the drive shaft or have a disconnect installed. It would also be a good idea to replace the front drive flanges with manual disconnect hubs. With the stock drive flanges the CV shafts always turn, installing manual hubs will prevent excess wear on them and the boots unnecessarily.