Back in 2019 many Toyota owners (not just RAV4s) had trouble with using the SOS button and getting timely assistance. I remember one guy in New York City had a flat and used the SOS and they said they were sending a repair truck. After waiting an hour beside the highway in the rain he called back and discovered the truck was on its way--from Virginia! I don't know if the SOS has now improved. I think you are better off just getting the AAA auto club membership.
For that you should just call 911.
I was under the impression That the SOS button was just for those kinds of instances where someone would come on to the car speaker and ask you if you need medical assistance.
The SOS button can be used to ask anything. When I bought my new RAV4, the salesman was demonstrating the various features and pressed the SOS button to show me that it worked, then talked to the agent for several minutes.
I guess I should clarify my answer. If you can find your phone in the emergency I would think that calling 911 would be best as you are in direct contact with those providing the help to you. Although the SOS agents may be able to conference you into a 911 call they make on your behalf.
Where the SOS button WOULD come in handy instead of your phone is if you are for whatever reason unable to get to your phone. Say in an accident the phone was thrown somewheres and lost. Or if in a rollover you were hanging upside down. Or if an arm was crippled or trapped in wreckage.
