I've found out that the headrest angle changed some time in the 2008 timeframe, and that headrests from before that time are less forward protruding. Also, the rear headrests in our 2010 have different rod spacing than the fronts so swapping them front to rear won't work.
My BIL has a Lexus RX330 and I've been meaning to try a swap there but haven't had the opportunity. An upholstery shop says they can fix the angle of the headrests for a couple of hundred bucks.
We're currently on a road trip in our Rav, and because I haven't had the time to find a suitable replacement, we just flipped the headrests backwards. It's now canted backwards and it's impossible to rest your head on it at all, and there's no whiplash protection, but at least it isn't forcing our heads forward when we're driving.
2010 Rav4 AWD V6 - Wife's
2007 Civic LX - Daughter's
1996 BMW 328i - Son's
1995 Miata - Daily Driver
2011 Corvette - Unintentional garage queen