My comments are at the end of page 4 of the thread referenced above. It might be possible to tow a TM with a RAV4, but I wouldn't consider it without a 500# rated Hitch receiver that will support a Weight Distributing hitch for a TM's tongue weight (I just checked etrailer.com, and all they have are the too-light 350# ones, which use just 2 of those 6 bolt holes that appear to be there on the RAV4 in their installation photos). You'd also need to aggressively keep a lid on weight and speed. And I'm confident that a quorum of our Western members would tell you that this is not enough tow vehicle for the places they go.
I don't have any personal experience your exact vehicle, so I would highly value any actual RAV4 owner towing experience that you can find here by using the "search" command.
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2005 TrailManor 3023
2003 Toyota Highlander 220hp V6 FWD
Reese 1000# round bar Weight Distributing Hitch
Prodigy brake controller.
"It's not how fast you can go, it's how fast you can stop an RV that counts."
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