Hmm, thats odd. I dont think so, but a friend of mine just told me that the RAV's transfer case might have to come out by pulling the trans and the transfer case as one piece and then separating them, but I really dont think thats the case. I wish I could see what your talking about, kind of hard to help you come up with a solution without being able to see the bolts or having access to TIS at home
The steering rack is somewhat easy to remove, but its messy, and I'd HIGHLY recommend getting an alignment done afterward (not required, but always recommended).
-Tie the steering wheel into the straight ahead position so it cant move.
-Remove the 12mm lock bolt on the steering shaft where it connects to the rack and slide the shaft up and off of the shaft sticking out of the steering rack (may need a pry bar to persuade it off of there).
-Using a flair nut wrench, open ended wrench, crow's foot, whatever, remove the 2 hard power steering lines from the rack (this is going to drain ALL the fluid out of the p/s reservoir, so be ready to catch it as it drains.)
-Remove the cotter pin on both ends of the tierods at both wheels, remove the tierod nuts.
-Use either a tie rod press (10$ at most auto parts stores) or CAREFULLY use a hammer to knock the tierods out of the hubs.
-Remove the 2 bolts/nuts holding the rack to the RAV, then guide the rack out of the passenger side wheel well opening.
-you MAY need to remove the sway bar to pull it out... cant remember, its been so long since I did mine.
As I said, its easy stuff to do, theres just a LOT of steps and head-scratching involved. hope that helps some