I had a Viper remote starter on my Venza. It was a two-way. So I would get an alert at 19 minutes and then again at 20 minutes when it turned off. I could then start it again if needed. I am actually looking into installing one on the RAV before winter.I tried JuneBug's method -- it worked but I had to use the mechanical key to unlock the door.
I came across a suggestion to use a remote starter -- make sure the AC is on, power off the car, lock it, then start it with the remote starter. This method works, but a service tech told me that most remote starter systems will time out after 10 minutes.