How would you recommend I tap into the wires? I wound up ordering an offbrand 12v outlet that I will just wire with an add a fuse and leave that old one dangling. It seemed like the easiest solution for someone that doesn't know a lot like me.I think I found it:
outlet: 8553006030 - 12 volt accessory power outlet (rear). Cowl, seat, socket - Genuine Toyota Part
cap: 2006 Toyota RAV4 12 volt accessory power outlet cover. Engine, door, transmission - 855350R010 - Genuine Toyota Part
As for adding the USB just tap into those wires for the outlet.