I have a 2009 RAV4 V-6 and have changed the oil twice already (600 and 2000 miles). I wish all my cars were this easy and I really like the cartridge filter for easy observance. Although the TSB says you can use some 20wt oils, the manual says 5W-30 or 10W-30 in a pinch. I've been using 5W-30 Valvoline with 3 ozs of ARX for break-in. You don't have to remove the skid plate. Everything is very accessable without lifting. A couple of lessons learned:
1. The little drain plug plug on the filter canister may not loosen with the 3/8" drive (overtorqued from factory). This is no big deal. It's only there to drain some oil before loosening the canister itself. Just loosen the canister itself slowly (with 65mm oil wrench) and it will drain from around the circumference of the canister (you'll get some on your hand so be prepared). Once the canister is removed, you just take the filter element out and replace it with the new filter element and O-ring. Observe the position of the old O-ring and just replace it in the same position with-out any twisting. If you do happen to get the little drain plug out (either with the 3/8" drive or a vice), don't forget to replace the small O-ring too. I haven't bothered with this drain plug yet.
2. The manual calls for 6.4 quarts on a oil and filter change. 6.4 quarts will overfill on the dipstick about 1/4" though. I would recommend starting with 6.0 quarts and then slowly top off. The fresh oil is tough to see on the dipstick though.
Here's a link to a more thorough discussion on the subject:
http://rav4world.com/forums/viewtopic.php?t=4195
I'm confident that you will consider this easy when you are done. Have fun and good luck!
Y I K E S !!!
:)
The suspension is a little soft for my taste (those automotive writing pros who say Toyota was aiming at Buick aren't kidding...), but that's the only complaint I have about the car (other than it's annoying oil filter setup). 
