This kit is available for all Euro gen 3 rav4 (2006-2012), both diesel and petrol engine. I am pretty sure the it will fit the US models as well, only have to lengthen the wire to the sub in the rear door becaus of the longer US model. The audio wiring is pretty much the same for all gen 3 rav4s, US or Euro.
In europe all factory accessories part number start with PZ
I dont think a US toyota dealer can order this becaus the part system will not reconice the number. The US uses a different partnumber system for Oem accessories I think. I have tried ordering factroy accessories from US here in norway with no luck (I work at a toyota dealership).
But you can always try...
I havent tested this system in a rav4, so I dont know if it is any good. But it should be pretty much the same as you have standard in some of your models in US. I have installed a kit like this in a Toyota Yaris, and it was a HUGE improvement.
But it's pricy...here in norway the price is 8800 NOK, wich is about
1550 US dollars