I wish I would have seen this post earlier. I designed those headers and I can say that they fit any 2GR motor with any of the A/C compressors that I've ever seen on them (i went through about 12 to design these, including a Rav 4) it'll also clear the stock oil cooler if installed. the only thing it doesn't clear is the AWD box. this is strictly for 2WD models.
the power gains are very serious. with measured power between 270 and 300HP at the wheels (depending on the rest of the exhaust) but that's with manual transmissions so in the rav4 application the power would be a little less.
if someone is still sceptical, i'll guarantee a 100% refund if they don't fit. even the shipping back (because i know they'll fit)
they do eliminate the primary cats. all other emissions stuff is not affected, especially since the 2GR-FE does all the emissions stuff internal to the head and mostly using the VVTI valves. without the primary cats you'll set a check engine light and fail emissions tests. the check engine light can be turned back off with this:
http://www.urdusa.com/product_info.php?cPath=66_170&products_id=1260518515 (not affiliated with URD, but they make good products)
anyways, feel free to post questions, I'll try to answer all of them.