There are no front tow hooks per se. If you look carefully at each end of the front grill, you may notice a small area of plastic that can be carefully pried out. Located deep inside is a threaded socket that will accept optional eye bolts available through your dealer. I tried to add photos but couldn't. If stuck, pry out the plastic grill caps and screw in the 6" long, .75" diameter eye bolts.
https://www.youtube.com/watch?v=Fh0_OEtuyGI
This video explains it for a 2012 Highlander. I bought a 2018 in Canada and Toyota no longer provides the tow eye bolts as part of the tool package in the trunk. The process is the same.