One help in diagnosing the problem would be to determine whether it actually is RPM - determined , is a transmission problem, or is determined by road speed. For example, does the noise occur at those RPMs in any gear (lock out the top gear - presumably 4th) and see what happens in 3rd at those RPMs., which may indicate that it is a driveline problem. Or does the noise happen in only one gear - possibly a transmission problem? To try to diagnose an engine mount problem rev the engine to that RPM range with the gearbox in neutral - if the noise occurs then that could be the issue.
Have you considered the rear diff mounts? Have they ever been replaced? Over time they soften and allow the diff to partially rotate. The noise could be the diff rotating forward after going from loaded to unloaded.
I have considered it since this rav is a pass on from my grand ma, I don't anything other than motor oil has been changed. I recently changed the spark plugs and saw that they were almost gapped at 70.
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