Toyota has the most experience and volume on hybrid, and the 2nd gen Prius was the most reliable car in the world, that speaks for something.
3rd gen has some head gasket issues (likely due to cooled EGR clog, result in running more lean than ECU expect, so knock, head gasket, and bent rod). Haven't heard about Camry hybrid having the same problem yet.
Rav4 is slightly bigger than a Prius V, so if you don't mind used, Prius V hybrid may be a good deal now with also 40mpg.
Honda's hybrid really depends, CRZ is bad, Civic is bad, Accord is good. However the chances of not getting new battery when the car is old is higher. You can count on there will always be Prius battery when they are old.