Most people with some mechanical and automotive repair ability can do the routine maintenance every 5,000 miles. However, for those having less knowledge but willingness to learn would like more on DIY "Do-It-Yourself" as to visual inspect, where to lubricate, the location of fluids needed to check and more. You can find some things on You Tube such as Changing oil, replacing brakes pads and rotors, ATF automatic transmission fluid, and more. There are many required tools in performing these tasks. Also, obtaining the correct parts and their cost. Next is getting the RAV4 raised high enough to work underneath it. If you have No Tools or know how and starting from scratch, it can be overwhelming. Purchasing parts on Amazon, eBay, other online websites or local Auto Store may get you a real good price and save a lot of money. But do you have the Proper Tools for the Task at hand? Do you have the time? Parts can be expensive and very much Labor cost. What happens if you ordered the wrong part only to find out when you have taken everything apart and now stuck with an inoperable vehicle. Plan carefully, be Safe. When working let someone close by know. Best if you have an observer and helper. Never work alone as they say. Safety First. We all love to save money, but there are no Short Cuts in doing the Job Correctly.
Do yourself a favor, do the simple stuff and leave the hard stuff to the real mechanics. Maintaining your vehicle plus washing, waxing and cleaning inside out at least once a month will make it last a long time.
Do not neglect your vehicle. Check fluids, oil changes, brakes and tires, and never overfilling the gas tank or running it dry to empty will do wonders so you can drive for extra years.
Start seeing Rust, find ways to slow it down. Some people go get Rusty Check, Ziebart, Krown or Corrosion Free.