-- The Rav4.1 has a manifold absolute pressure sensor. It does not have a mass air flow sensor. The MAP sensor is mounted on the passenger side of the engine bay, at the rear, on the firewall, not far from the battery's positive terminal. For more info, see
www.rav4world.com/threads/sensors-their-descriptions-and-symptoms.291247/
-- What is your Rav's battery voltage with the engine off? A symptom of a dying battery (or possibly an alternator needing new brushes to keep the battery properly charged) is low voltage with the engine off. A battery not being charged enough will cause starting hesitation.
-- Consider a tune-up: When was the last time the spark plug wires, plugs, distributor cap and rotor were changed?
-- Does your CEL lamp light when you turn the key to the On position (engine off)?
-- I would check for codes and report back here.
-- If there are no codes, I would start by cleaning the throttle body et cetera as described here:
www.youtube.com/watch?v=O3yb5RIlqPM