Some good advice here about making sure your RAV4 is in good mechanical condition first. Make your RAV4 reliable and safe before making it fast. It isn't worth spending a lot to try to make these cars really powerful unless you have money to burn to make a play toy of a car rather than reliable transportation and you have a second car to drive when your modified car doesn't work. There are a few things you can do to improve acceleration performance a little for little to no cost.
The Rav4 engine has a knock sensor, so if the ECU detects any pinging, the ignition timing advance gets reduced, leading to slightly reduced power output. Using higher octane gas can prevent this from happening if it is happening in your situation. Try higher octane gasoline to see if it helps in your case. At sea level and/or if your engine has some carbon build up, higher octane may help. A bit higher fuel cost is lot cheaper than a new engine. Also if you can get "real" gasoline, without ethanol, there is about 4% more energy per unit volume than 10% ethanol gasoline, so possibly up to 4% more power, or better fuel economy.
Pumping your tires up to about 30 PSI will reduce the rolling resistance compared to the door sticker pressure without making the ride too harsh. Speaking of tires, if you have wider or taller tires than original (P215/70R16 for a 2000 model), then the heavier tire is not only more weight, but more rotational moment of inertial which affects acceleration significantly. If the tire is taller than original, then the final drive ratio is effectively taller which reduces acceleration too. The same is true for using light truck (LT) tires instead of passenger (P-metric) tires. The LT tires are much heavier and have more drag for the same tire pressure. Tire replacement isn't cheap but much cheaper than an engine swap and you could get high-quality fresh tires for better safety and reliability.
If your RAV4 has air conditioning, try turning it off before accelerating. A/C uses a lot of power. Remember that the A/C comes on with the defroster too. Some cars will automatically shut off the A/C compressor at wide open throttle or at high RPM. I don't know if the RAV4 does this. My RAV4 doesn't have air conditioning.
Double check that your throttle cable is properly adjusted that you are really getting wide open throttle when the pedal is all the way down.
Finally, are you using all of the power that Toyota provided? Mentioned above is to press the ECT button which raises the shift point RPM to improve acceleration which will make it feel peppier. Secondly your 127hp provided only occurs at 5400 RPM. The torque peak isn't until 4600rpm. The strongest acceleration is between these two numbers. If you aren't near 5400 with the throttle wide open, then are you aren't using all the power that is already there. Don't expect the car to pull you into your seat at 2000rpm. The RAV4 engine isn't like that. When you really need to accelerate hard, you need to use the right hand side of the tachometer, i.e. more than 4000 rpm. Downshift if needed to get there. If your transmission tries to upshift too soon, you can manually shift it instead.
You didn't really say what you wanted the increased acceleration for or what the purpose is, but if you are just trying to launch hard, you can brake-torque just before launching. This is where you put the automatic transmission in 'L'ow gear, hold the brake pedal down so that the car doesn't move. Then, a couple seconds before going, step on the gas just enough to raise the engine RPM up to the torque converter stall speed, then when it is time to go, you floor the throttle and release the brake at the same time. This is hard on things like engine, transmission and differential mounts, CV axles, and heats up the transmission fluid quickly, but will make a really harsh take-off if that is what you are after. Magazine reviewers do this for their 0-60mph testing.
More acceleration means more wear, more fuel burned, higher cost per mile of ownership but there is probably some performance that the car has that you aren't using. If you your are hard on the car, you will end up spending more on repairs than otherwise, but using the performance is still cheaper than modifying the car which would make things even worse.