A back alley method to provide a good idea whether or not your vehicle can be towed with all 4 wheels on the ground is to research if a tow bar hardware kit called a bracket or base plate is available. If you can't buy a tow bar bracket to mount onto your vehicle to accept a tow bar, then your question is kind-of answered by reverse engineering. As previously discussed, there are flavors of vehicle models (manual versus automatic) that come into play. That is where your owners manual will help. If you can find the proper tow bar bracket (or base plate) for your little pickup truck with manual transmission, then it seems promising.
Even if your vehicle is permitted by the auto maker for towing with all 4 wheels on the pavement, you'll need the proper bolt-on bracket to actually tow it. ROADMASTER
and BLUE OX
are the two biggest suppliers I know of. I would imagine there are other brands to check out.
I reinforce the previous replies. As newer vehicles have become more and more "Techie" with push button start and so much else, there is more to consider. It seems tow dollies will be become more popular to get past all that for newer front wheel drive vehicles. Not so much with 4WD and AWD vehicles.