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This is what I would do: I would immediately have the Rav 4 towed to the dealer and let them figure what the problem is. The insurance should cover the towing fee.
The OP can charge the battery, but the battery should be disconnected from the vehicle before charging. Also, jump-starting a vehicle could fry some of the electronics if not done properly, and the vehicle's warranty may not cover the damage. When not sure, turn the motor of the vehicle with the good battery off, then connect the jumper cable as needed, and use only the battery from the good vehicle -while connoted to the vehicle-to start the motor on the one with the dead battery.