Mohit's correct, it is a common problem for all model years of Ravs, and people have tried to fix it with no success. There are really no words to explain what mine does, however I'll say it varies a lot. It doesn't really bother me at all because I have been driving it long enough that I can interpret the gauge fluctuations fairly accurately.
It has to do partly with the fact that the Rav's gas tank is shaped like an inverted U in order to fit over the driveshaft while not raising the height of the rear floor. There are two sending units, one on each side of the tank, and the gauge somewhat averages the readings of the two senders. There are also baffles in the tank to keep gas from sloshing around, which can also affect the readings of the sender floats.