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Well, maybe you do need to be a sound engineer.
What type of radio broadcast are you talking about? HD or standard? I don't listen to music on the radio really, but I think the HD sounds decent enough.
What is the standard definition of HD radio? What is the frequency response?
Satellite radio has crappy fidelity. Are the songs you're playing off your phone MP3 or lossless compressed files?
MP3 is compressed data (a little off the top and bottom) and will always sound inferior to a CD, which is based on the theoretical limits of human hearing (Nyquist theory).
Do you have additional EQ settings active on your phone/playback device? That will affect your sound as well.
Radio broadcast as well ads further process to the source signal. Modern music already has the life squeezed out of it through the use of compression. Radio broadcast puts it through another limiter stage still. This over-compression will indeed makes the same song sound different on a radio or a CD. Make that CD a ****ty MP3 and it'll sound different still.
The OP was definitely unsatisfied with the quality of sound from the system overall, not tonal or volume discrepancies based on source. Different sources will indeed sound different, even if you are comparing by playing the same song. I would argue, that if people are able to notice these differences, the system is actually working just fine.
If there were a technical defect, like the sub channels being wired out of phase, you might have grounds for a class action suit. But, if you simply find the system fidelity not to your liking (which can be subjective), or don't like that a CD, MP3, and the radio all sound different (which is actually normal), then all you're really doing is having Toyota pay their lawyers to do a bunch of busy work, which will only make your next Rav4 even more expensive.