Possible - depends on what sort of braking the RAV4 sees, type of commuting/traveling. Pretty easy to check - pull the wheel off, look at the cutout of the edge of the caliper - you'll see the two pads pinching the rotor in the middle. Should be able to visually tell how much friction material there is left. I think minimum thickness is 3mm - but not 100% positive on that. If the pads have lots of material on them, possible you got some contaminant on the friction surface (rock, chunk of debris) that is causing the noise. Usually if they are embedded enough to cause noise, you'll notice some scoring on the rotor face.
Definitely replace that caliper and brake pads. If you are planning on keeping the RAV then replace both calipers. If it was mine, I'd replace the brake hoses also. Rotors are inexpensive and are the other half of the friction surface, so I recommend replacing the rotors.