Just run an Amsoil Ea cartridge filter (rated for 15,000 miles) and install a Fumoto valve. You can drain the oil every 5k, 10k, whatever you wish easily without even jacking up the RAV4. Even without a Fumoto valve, you can easily reach the drain plug without raising the vehicle.
Leave the cartridge filter in for 15 to 20k miles, and reap the benefits of a full synthetic media oil filter: better oil flow, better filtration than the standard Toyota cartridge filter, no cellulose to degrade in the presence of water, and the longer you use any sort of filter, the better it gets at filtering. Problem solved.
I'd personally run an Amsoil Ea cartridge filter for 15-20k miles and change oil on a loose schedule of 7-10k miles, depending on factors such as weather, parking, etc. If it's 110 degrees in July, I'm not lying down on asphalt to change the oil even if it has 8k on it. I'm waiting until next week when it's cooler because 8.1k miles and 8.3k miles won't make a difference, as any synthetic should hold up in a RAV4, especially with outstanding filtration from the Amsoil filter.