I bought the pioneer avh-x5700bhs from Amazon for about $350, but also needed to add the Sirius xm adapter ($30), steering wheel adapter ($10), double dip adapter from new pioneer to your year of rav4 ($20), video parking brake bypass control ($6), zeronet front and rear cam video recorder, and two kicker 6.75" front speakers ($120) which also needed plastic Toyota speaker mount adapters to fit ($6). Total around $600 all on Amazon.
Navigation for that pioneer is +$300 , but I can mirror my smartphone through the large screen, but sometimes the connection goes off and on with an HTC desire 626.
Took me more than a few days to get all the wires connected right. My earlier post shows how to connect the rear cam but I would recommend just buying the zeronet $80 Amazon front and rear cam recorder to plug into the back of the head unit. The pioneer won't record video and only shows black and white.
I think it's worth the money, but if you don't know how to deal with tons of different colored wires that don't match up, call to see if a BestBuy will install something you didn't buy from them.
Took me days, but I never blew a fuse or anything. DVD, (will not play Blu-ray), plays MP3, wma, audio, and also avi, divx, mkv, MP4 video from a USB, video out for a second DVD screen to run to the back, has smartphone connection, Bluetooth with directional noise reducing mic, screen mirroring, aux 1/4" jack input, HD radio, Sirius xm, mixtrax, video recording on a loop front and back, and video recording if someone hits your car when parked and off.