Just get to understand that on a Toyota RAV4 AWD above a given speed 2 wheels drop out of 4wd and 2 wheels remain as the driven wheels , anyone knows which wheels remain driven front or rear?
The all wheel drive is always on.
It can be set to 50/50 for conditions that warrant it manually.
Actually, it is still a two wheel drive - front and rear.
Unless there is limited slip front and aft, it is not going to use 4 wheels at once if there is slippage.
It defaults to FWD in normal conditions , but the AWD system is on in some form.
Automatic all wheel drive was created to save weight and money. Auto AWD can be used full time on all surfaces including pavement. AWD only briefly activates automatically when stability threatening conditions arise.
How does it do it?
Since ABS was introduced, cars have wheel speed sensors on all wheels. A central computer compares constantly the speed of all wheels.
In the case of ABS the computer tells the brakes to apply less pressure when one or more wheels want to lock up (rotate less).
In the case of automatic AWD the computer engages the other axle when the main powered axle sends signals of faster rotating wheels = indicating it has slipping wheels. The engagement usually happens right at the center differential or at a joining section of the front and rear drive shafts with a clutch pack or similar.
As soon as all 4 wheels are rotating at the same speed again, AWD is turned off by the computer.