One more comment for when you do need a brake job: it would be unusual for you to need new rotors on your first RAV4 brake job. It would not be unusual for the "service adviser" to say you need new rotors. Ask for your old parts back. There are specifications about how far down the rotors can be turned safely. While many cars almost always need new rotors with a brake job, RAV4 is not one of them. I would ask for your old parts back.
Not everybody agrees that the rotors can safely be turned, but the service manual does.
I do agree that checking both sides is important. While you have things apart, it would be wise to lubricate the slides. We have had many good threads on many things here, but I don't remember one that gets into brake lubrication with pictures and techniques. Lack of proper lubrication would be the main cause of one-sided brake pad wear.
The typical "service adviser" is paid largely based on sales of billable hours and sometimes parts.