I don't think the matching tire thing really matters if you have all open differentials, or the equivalent. If you have a limited slip clutch type differential, or some sort of hydraulic coupling, it will be operating all the time, and they are generally not designed for that. I believe that the RAV4 has open differentials, and just uses the brakes to apply torque to the opposite wheel. On the other hand, Toyota also claims to be able to deliver torque to one or the other side of the car, even at speed. I don't know how they are doing that. Maybe, since AWD is usually inactive, to save gas, maybe the differential is simply not active much of the time.