Yes, this option is standard on all U.S. and Canadian Limited models. That is, just the distance/parking sensors that beep as you get close to objects. Your dealer is probably thinking that you are talking about Intelligent Park Assist (IPA also), which is what parks the car for you (steers the car for you and potentially stops it before hitting something). This is NOT available on any RAV4, so you'll have to park it yourself
Here is Intelligent Park Assist on the 2016 Prius:
Here is a reference to Intuitive Parking Assist on the RAV4 (what you had in the picture):
Toyota RAV4 Owners Manual: Intuitive parking assist - Using the driving support systems - Driving
Again, the RAV4 limited just has standard parking sonar, which just lets you know distances. It's not an option because it's standard on the Limited. It is an option on the XLE though.
Hope this helps!