At 97k miles, the struts and shocks are most likely gone, assuming they are still original. They degrade over time, in a vehicle you drive (assumed) daily. You won‘t know/feel the difference b/c the degradation occurs slowly over time, and you gto used to it b/c it’s your daily car. If you had access to a 2015 RAV4 w/ zero miles, would you be able to feel how badly the struts and shocks are.
Unfortunately, replacement of the struts and shocks is time consuming and costly (parts, alignment). The suspension is probably a neglected vehicle maintenance item.
If you replace all 4 corners, time how long each strut and shock takes to go from full compression to full extension. The used items will likely take a long time. The new items will likely take <=3sec each.
Remember, for optimal handling and braking, it is recommended to replace the struts and shocks every 5yr/50k mile. It is your decision to do whatever schedule you decide.