Yeah, don't worry. There's plenty of rav's out there if it looked like the right kind of car. I'll have to agree, though, that the 4.1's are WAY too small for more than two people at most in the back seat. When I have to ride back there when the family goes somewhere, it's absolutly crammed side to side, not to mention length wise. (I'm not THAT tall, but I am decently tall somewhere about 6 foot, so back seats kinda suck period)
I know they made the 4.2 (2001-2004) Rav's larger inside, which is probably about what you need. Haven't been in one, but one of them might be an option. Wouldn't cost much more anyway, probably 6-7k instead of 5-6k for a good one.