What do you want to do with it. I'm not sure I'd take any of them off road for any significant amount of time.
Personally, I have a CR-V and think it's great, but can't speak much for the other two. I test drove a 2003 Rav-4 when we were looking to buy, and liked it just fine, but the Honda was a little bigger, and gave us a better interest rate, plus the same or better reliability than the Toyota and the same gas mileage. Almost 4 years old now, and at 70,500 miles, the only work I've had to do on the CR-V aside from regular fluid/filter changes has been to replace a brake light bulb, which took a whole 5 minutes. I'll put new brake pads on some time this summer.