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The RAV4 does not have a frame. It's a unibody construction. If all your jams look like as before, then there is no damage to the body.
In your case, both of your quarter panels are not even touched. There is 0% chance of damage to the body overall. In fact it looks like a pretty cheap fix since all you'll need is the gate, bumper, and some hardware. They won't even need to paint/blend any panels, which is good, since factory paint is the best kind of paint.
That's only about $3500 in body work. Very cheap for a new car.
2017 RAV4 Hybrid Limited