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It isn't 4 wheel drive on demand, it's FULL time (always) four wheel drive.
If it would be on demand you would have gotten a button to use it, but it would not be driving all 4 wheels continuesly (usually it's front wheel drive then untill you push in the button).
With RAV4 there is always 4 wheels which are being driven by the engine. Toyota however does give the option on other cars to have the on demand thingy.
A limited amount of RAV4 are 2 wheel drive. But that is specifically in the manual/ car information. Those do not have the 4 wheel drive option.
Driving a BMW318i with LPG at the moment. Had a 2.0 RAV4.1 1997 3drs 4WD euro model w/ABS dual sunroof blue two tone previously.