I just replaced the std mirrors with heated/signal units on my 2011RAV4 Sport, 4 cyl, AWD. The key, as someone stated, is to determine where your vehicle was built. Then you will need to verify the connectors that are on your current mirrors. This requires removing the door panel on one side. The Canadian built models will use a rounded 2-piece modular connector, while the Japanese built connectors are one piece, rectangular. I prefer OEM so I purchased salvage mirrors from a yard in Ontario,Can for my Canadian built vehicle. They run around $150 -200 depending on condition. If you choose this route, be sure to have the sales guy send you clear ephotos of the part your considering to be sure of condition/connector style.
I like the blacked-out look so I painted mine flat black and top coated with satin clear acrylic for a more discrete appearance. Buying prepainted is a good idea and will save you much time but it'll cost $$. BTW the heated/signal mirrors were an option for the 2011, 4 cyl, AWD, Sport model so it was a plug and play, just a matter of getting the correct connectors.