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http://www.toyotapart.com/READINESS_MONITOR_DRIVE_PATTERNS_T-EG02-003.pdf

It doesn't copy & paste well, but I think you need page 13 for a California rav4, the driving requirements are a bit longer than the Federal models.

"Drive the vehicle at 40 – 55 mph (64 – 88 km/h) for the time described below:
a. If IAT (Intake Air) was less than 50F (10C) when the engine was started, drive for 7 minutes. If IAT (Intake Air) was greater than 50F (10C) when the engine was started, drive for 3 minutes.
b. Drive the vehicle allowing speed to fluctuate between 35 – 45 mph (56 – 72 km/h) for about 16 minutes"
 
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