If you can, get the Toyota long life coolant from the dealer. If not, get the Prestone yellow all makes all models stuff. I've been using the yellow stuff for a while with no problems. Just don't use the old school green coolant, it's made for iron blocks/radiators and the Rav4's have aluminum blocks/radiators.
The pink coolant is just a 50/50 premix of the red coolant, IIRC.
2010 Green Tacoma DC V6 4WD 6-SPD TRD Off-Road
Former 2001 Black Rav4 4WD w/ 5-speed manual, 172+ miles