I just put a set of Falken Wildpeak AT3W on mine, granted i have a lift. I know people run the 245 tire on the 6.5" wheel, but i wouldn't. Go with a 235/70/17 and you will be just as happy, you will even gain some height from the taller tire, granted you will lose some power with that. As we all know those of us running over sized tires, something left to be desired in the RAV4 horse power rating. You could also run a 235/65/17. The size i run is a 245/65/17 on 17x8 wheels, and i have seen bigger. At the dealership in Ontario Oregon they sell them lifted with 245/70/17 tires. They are selling them with LP Kits.
Up to you but if i was gonna run oversized tires on a stock steal wheel i would run 235/70/17