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My manual says that "the fuel light comes on when the fuel in the tank is nearly empty". Well, no kidding?!
The most I have ever put in the tank at a gas stop is 14 POINT 04 gallons. Yes, the indicator was into the "E" like it was next week. In my RAV, the light comes on when I have 3.5 gallons left. In fact it just happened to me yesterday. I pulled into the station, stopped - and the light came on. I filled up with 12.3 gallons. I have done this many times, so that is why I go with 3.5 gallons when the light illuminates.
In your case, driving the RAV for 10-15 miles after the light comes on and then filling the tank with 12.9 gallons sounds right on to me. Just go with 3 gallons left in your tank when the light illuminates.
2012 RAV4 Base V6 4WD
2006 RAV4 Limited V6 4WD - sold