Before you take any of the drain/fill plug out make sure you tap the allen socket in with a hammer to prevent rounding it. You should also clean the debri out of the hole.
Just an FYI. The Limited, Adventure and TRD trims all have the same AWD system and it is different than other trims for the 5th gen RAV4's.The problem is the diff on my 2020 Limited AWD are different from the 2019-2022 AWD models. I need to verify the location that I believe are the drain and fill locations before I start turning wrenches. All the videos online show a different version than mine.
The first two pictures are my diff. The other picture are diffs from 2019-2022 AWD Rav4 models.