I presume you mean you have a 4-cyl Sport model, and with two rows of seats.
I have a camper with a dry weight of 1000 lbs and a max gross weight of 1500. I’ve taken this on trips up to 250km on the freeway. I also tow up to 1.5 yards of soil/gravel occasionally with my utility trailer. This is usually short hop (couple of km in town). In both cases my RAV has towed the loads just fine, despite having no towing package either. I use a Class 3 U-Haul (Curt) hitch.
A normal aftermarket class 3 hitch will be fine for what you describe. You can check around the forum for the style of hitch you like best - the Curt has cut my departure angle quite a lot, so I would have chosen something else if I could have (I got the hitch used for $40). Per the manual, all 4-cyl models have a max tow capacity of 1500lbs, but over 1000lbs the trailer needs brakes. Many U-Haul trailers have surge brakes (see Dr. Dyno’s opinion elsewhere on surge brakes - it’s not favourable). These will do for the occasional tow, but you need to make sure everyone who will drive towing knows how to tow using surge brakes.
I have upgraded my RAV from its base spec due to frequent towing - as in my signature I’ve replaced the rear springs with the 3row model springs to counter the load sag when towing. I’ve also changed out my front brakes from the small set to the larger set from the V6 and 3-row models. These two changes have made a world of difference in towing and particularly in my confidence doing so - when braking now I don’t feel the camper anymore. For anyone who tows frequently, this is absolutely a worthwhile set of upgrades. I will be adding a stacked-plate transmission cooler this summer, and eventually the radiator from the V6 Tow package model, to increase my cooling capacity.
Last item for towing, and still on brakes. Most states/provinces have unique towing laws, and weight thresholds when brakes are needed. Please see the link below.
Towing Laws It’s Not Only Where You Live, It’s Also Where You are Going. Locate the States/Provences that you are […]
www.brakebuddy.com
By the way - how did you settle on your username? That’s been my license plate since 1998!
2012 RAV4 Base FWD. Upgraded to large front brakes and 3rd row rear springs.
Link to SAE J2807 test description
The new standards ask: Can you climb the Davis Dam grade?
www.caranddriver.com