I did multiple times, with my 2005 Dutch 1.8 MT Mazda5. Don't know the exact weight I towed, but over here I am allowed to tow 1300kgs (2866 lbs).
The current 2.0 AT is allowed to tow 1400kgs.
These are all weights that are officially registered by the government as a characteristic of my vehicle. Don't know about your local laws, but I suppose that if you tow a trailer while it isn't allowed and get an accident, you'll have quite a problem...