My late wife's RAV4 was a 2010, it had 107K largely trouble free miles when I sold it after her death. I did OCI as long as 11.5K on M1EP and the motor was clean under the oil fill cap, I stuck a Costco remote camera in the fill hole to see what it looked like. On the other hand, I put Valvoline Maxlife ATF in it and it would flare shifts occasionally, perhaps switching back to the Toyota juice would have fixed that. It did like to eat batteries, went through 4 of them in 107K.
2.5 motor was smooth but pretty gutless. Would have preferred the V6. Mileage with the 2.5 was not that great, 24-25 in mixed driving. Had a friend with a V6 and it only did a couple MPG worse, but had way more power than the 2.5. My 2.5 only sniffed 30 on a flat highway doing 60-65.
The biggest issue with the car though was the relative lack of room for a 6'7" person. If you are over 6'4" or so, do not consider a Rav4. Or a CR-V for that matter, those stink for legroom also.
Probably the best midsize CUV for legroom was the prior gen Chevy Equinox, but they are not known for reliability.