I did qualify it with an "ideally" realizing that it is not always possible to run the lines that way. Safeman, in your picture the below link would make it possible to tie it as I describe if you put the loops along the fenders near the windscreen. there are other links on that site which show store bought loops with grommets peened in. Most of my hauling is on an S10 with a Yakama rack system with gunwale brackets. In truth I run my bow line forward as well. I don't have to worry much about fore and aft movement because the gunwale brackets are tight against the gunwales. the fatter center of the canoe can't slide past the brackets fore or aft, so really keeping it clamped down to the rack is the main goal. I have great confidence in the rack system though but recognize that it is not the optimum situation. On the Rav, with its racks being much closer spaced, I would try to do as I describe in my initial post.
People tie them down in all sorts of ways, and make it to their destinations with no problems. Many too are the tales of kayaks that went airborn and hit another car and or were destroyed on the road. Studied on the issue quite a bit, have hashed it over with many a paddler and am comfortable with my method. I think that with a bit of common sense and quality gear checked frequently you should be fine even if not optimum. A lot of the wisdom on tying down as I describe I think comes from using after market racks. lots of pictures of destroyed canoes and kayaks laying along the side of the road with the roof rack firmly attached. Good luck.