I would guess that your problem is short legs more than short arms. As others have said, the airbag force in the RAV4 depends on various factors; one of those factors, not mentioned, is the weight of the driver.
You don't need to worry about the airbag force when the seat is all the way forward. Toyota takes that into account when they design the car, thus is is safe when the seat is all the way forward.
If, however, you have a problem reaching the pedals even when the seat is all the way forward, you may have to find a way to move the seat further forward. I am very tall and find the leg room in the RAV4 less than is comfortable for me, I came up with a way to move the seat further back:
Extending the front seat on the RAV4 for tall people . This could me changed to mover the seat further forward by just reversing the plates you see in the pictures.