EDIT:
Technically it is legal (see bottom of p5) http://www.tmr.qld.gov.au/~/media/a2...rmation_v2.pdf
HOWEVER, I know people who have been fined for it - the reason being is that the vehicle being towed had power brakes (and/or steering) and the engine was not running, so the vehicle was not in a "safe" (or "roadworthy") condition according to the police.
So going by the above, you could tow a vehicle with a rope legally as long as it has no powered brakes or PAS, or if the engine is running.


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