Anyone that installs hitches should be able to do it, but it is a bit different than other hitches for you need to remove the rear bumper cover. There are instructions in a PDF file that should guide them. Another choice would be the ECO hitch from Torque Lift Central; it is also higher off the ground than the others, but does not require removing the rear bumper cover.
The OEM wiring harness would be the best choice for it routes the trailer wires through an existing grommet to the outside; all others you have to drape the trailer wires over the threshold which may damage them. You can do the OEM wiring harness yourself; it is plug an play, meaning no wire cutting or tapping in needed. Again, there are PDF instruction for it, but there are different instructions for the hybrid and gas RAV4, so be sure to get the right ones.