This has happened several times to people in both 4th generation and 5th generation RAV4s. Believe it or not, the AWD notice can occur if your gas cap is not tightened properly. This would account for it going away for a few weeks. A gas station attendant improperly tightened it at one fill up and at the next fill up it was tightened correctly and the notice went away. I would check this first. Unscrew the cap--look at its inner surface and see if there is any debris or anything unusual looking--then screw it in until it clicks. If the cap seems loose or does not click you may need a new cap. If the cap is defective and loose or wobbly this would also account for the notice appearing and disappearing. Only buy gas caps at the Toyota dealers--the aftermarket ones are junk. Technically, what is happening is that a fault that has nothing to do with the AWD can cause the warning notice--a vacuum leak in the EVAP system. Now you could also have a much more complicated EVAP problem. Some posters got the AWD notice when the purge valve failed and that is an expensive part and repair. You report your car feels "normal" so I don't think you have a serious EVAP problem--also you don't have a MIL check engine light lit. A second thing that can cause the AWD notice to pop up also has nothing to do with the AWD system. People have gotten the notice if their 12V batteries are weak or dead. They will jump start the RAV or put it on a charger and the notice pops up when they start the car. The RAV computers (41 in all) are very sensitive to battery voltage and any transient lows or surges cause the AWD and other warnings to come on. Some have successfully got the AWD notice to go away by completely disconnecting the battery. If you have an OBD2 or a more serious scanner I would suggest first scanning for any codes and noting them. I suggest disconnecting the positive AND negative cables for an hour and pumping the brake pedal a couple of times to get any remaining charge out of capacitors. I would also recommend you go to a car parts store like Autozone and get a free battery check for voltage and condition--your battery may be getting weak and you may need a new one. I would lastly suggest you test the AWD to see if it is really working by turning your MID screen (where the warning notice appears between tach and speedo) to the display that shows the power distribution to each wheel). When you drive and accelerate hard or corner you will see the rear wheels light up and this means your AWD is actually working despite the notice. Now I would be remiss if I did not strongly advise you to go to the dealer and get them to examine your RAV and scan for all DTC codes and freeze frame data. Your car is still under warranty so if the battery, the gas cap, or any part of the EVAP system has failed they should fix it free. Needless to say, if my DIY fixes don't help then you MUST go to the dealer. Take a look at the following 3 page thread in this forum where others had your identical problem with the AWD warning notice.
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