Sadly nearly all of the unibody vehicles have no tow points as we were used to see on vehicles with a frame -- like the current 4Runner. So if you have a tow hitch you've got a rear towing point, but nothing for the front.
I **believe** that the small eyebolts that screw into those openings on the bumper are more for securing the vehicle during ocean transport than for pulling out of a ditch. I also **believe** that most tow trucks now use a recovery strap that is pulled around both wheels on either the front or rear axle, then hooked to a tow chain/strap hook.
Be aware that your XLE HV cannot be towed with any of the wheels on the ground, must be flat bed or wheel lift w/dolly hauled, read page 625 of the HV owner's manual.
■When towing the vehicle
Be sure to transport the vehicle
with all four wheels raised off the
ground. If the vehicle is towed
with the tires contacting the
ground, the drivetrain or related
parts may be damaged, the vehicle
may fly off the truck, or electricity
generated by the operation
of the motor may cause a fire to
occur depending on the nature of
the damage or malfunction.