Not a fan of Chat GPT, but that's another story for another time. As long as Toyota has the correct ATF, you're fine, or at least should be fine. DO you drive it every day? About how many miles a month do you put on it? Reason far asking is that in about 20,000 miles, do another transmission fluid change. That meaning, just drain what is in there, maybe even change the filter, especially it you didn't change it this time. As long as you NEVER have the transmission flushed, just change it. Example: If you drain 2 quarts out, replace only 2 quarts. I presume you have a dip-stick for you transmission" I have a RAV4.3, V6 and it has a dip-stick for the transmission. Please do not over fill it.
Another question for you. Do you have the history on you RAV4's maintenance? As long as you RAV4 has been properly maintained, you should be fine. Personally, I change oil, coolant, ATF, brake fluid before the recommended intervals. That helps prolong the life of you RAV4. I only have 303,513 miles on mine. Still purrs like a kitten.