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you can use any weight of oil. Your engine is designed for 5w30. If you use a higher weight, you will still get the same protection, but you MPG will probably fall. If it is very cold where you live, you will not want to raise the weight of oil.
Also, if you use 5w20, you will probably lose some protection as the engine heats up.
Synthetic is great, the mobil 1 at wal mart is very good, and most name brand dino oils will do just fine at the factory intervals.
98 RAV4 4dr/4wd