flygt - This is my go to fluid capacity link, and I like to use all Amsoil products:
AMSOIL Online Product Application Guide
2003 TOYOTA RAV4 2.0L 4-cyl Engine Code 1AZ-FE
LUBRICANTS & FLUIDS:
Engine Oil
Grade 1......SL
Maximum Performance Signature Series 5W-30 Synthetic Motor Oil (ASLQT)
Performance Plus XL 5W-30 Synthetic Motor Oil (XLFQT)
Performance OE 5W-30 Synthetic Motor Oil (OEFQT) Above 0 F......10W-30
All TEMPS......5W-30
Manual Transmission,4WD......GL-5
All TEMPS......75W-90
SEVERE GEAR 75W-90 Synthetic EP Lubricant (SVGQT)
75W-90 Synthetic Long Life Gear Lube (FGRQT)
SEVERE GEAR 75W-110 Synthetic EP Lubricant (SVTQT)
Manual Transmission,4WD......GL-4
All TEMPS......75W-90
Synthetic Manual Transmission and Transaxle Gear Lube (75W-90) API GL-4 (MTGQT)
Manual Transmission,FWD......GL-5
All TEMPS......75W-90
SEVERE GEAR 75W-90 Synthetic EP Lubricant (SVGQT)
75W-90 Synthetic Long Life Gear Lube (FGRQT)
SEVERE GEAR 75W-110 Synthetic EP Lubricant (SVTQT)
Manual Transmission,FWD......GL-4
All TEMPS......75W-90
Synthetic Manual Transmission and Transaxle Gear Lube (75W-90) API GL-4 (MTGQT)
Automatic Transmission,U140F......TIV
Signature Series Multi-Vehicle Synthetic Automatic Transmission Fluid (ATF) (ATFQT)
OE Multi-Vehicle Synthetic Automatic Transmission Fluid (OTFQT)
Automatic Transmission,U241E......TIV
Signature Series Multi-Vehicle Synthetic Automatic Transmission Fluid (ATF) (ATFQT)
OE Multi-Vehicle Synthetic Automatic Transmission Fluid (OTFQT)
Differential, Rear......GL-5
Above 0 F......90
SEVERE GEAR 75W-90 Synthetic EP Lubricant (SVGQT)
75W-90 Synthetic Long Life Gear Lube (FGRQT)
SEVERE GEAR 75W-110 Synthetic EP Lubricant (SVTQT)
SAE 80W-90 Synthetic Gear Lube (AGLQT)
Differential, Rear......GL-5
Below 0 F......80W-90, 80W
SAE 80W-90 Synthetic Gear Lube (AGLQT)
SEVERE GEAR 75W-90 Synthetic EP Lubricant (SVGQT)
75W-90 Synthetic Long Life Gear Lube (FGRQT)
SEVERE GEAR 75W-110 Synthetic EP Lubricant (SVTQT)
Transfer Case,......GL-5
Above 0 F......90
SEVERE GEAR 75W-90 Synthetic EP Lubricant (SVGQT)
75W-90 Synthetic Long Life Gear Lube (FGRQT)
SEVERE GEAR 75W-110 Synthetic EP Lubricant (SVTQT)
Transfer Case,......GL-5
Below 0 F......80W-90, 80W
SAE 80W-90 Synthetic Gear Lube (AGLQT)
SEVERE GEAR 75W-90 Synthetic EP Lubricant (SVGQT)
75W-90 Synthetic Long Life Gear Lube (FGRQT)
Fluids
Brake Fluid......HB
AMSOIL Brake Fluid DOT-3 (BF3SN) [1]
Clutch Fluid......HB
AMSOIL Brake Fluid DOT-3 (BF3SN) [1]
Power Steering Fluid......AF3
Signature Series Multi-Vehicle Synthetic Automatic Transmission Fluid (ATF) (ATFQT)
Power Steering Fluid......AF3
OE Multi-Vehicle Synthetic Automatic Transmission Fluid (OTFQT) [2]
[1] Hydraulic Brake Fluid, DOT 3
[2] DEXRON®-III Automatic Transmission Fluid
FILTERS:
Oil Filter Absolute Efficiency Oil Filter (EA15K09)
Oil Filter WIX 57145 Oil Filter
Air Filter WIX 46322 Air Filter
Cabin Air Filter WIX 24900 Cabin Air Filter [1]
[1] Not all models may be outfitted with a cabin air filter. Please verify before ordering.
CHASSIS LUBRICATION:
0 Fittings, 0 Plugs
CAPACITIES:
Engine, with filter..........4.4 quarts [1]
Cooling System, Initial Fill..........6.3 quarts
Passenger Car & Light Truck Antifreeze & Coolant
AMSOIL Antifreeze and Engine Coolant
Automatic Transmission, U140F Initial Fill..........3.7 quarts
Automatic Transmission, U241E Initial Fill..........3.7 quarts
Automatic Transmission, Total Fill
4 speed U140F..........8.8 quarts
4 speed U241E..........9.1 quarts
Manual Transmission, FWD..........5.3 pints
Manual Transmission, 4WD..........7.2 pints
Differential, Rear..........1.9 pints
Transfer Case, ..........1.9 pints
[1] After refill check oil level.
TORQUES:
Oil Drain Plug.....18 ft/lbs
Manual Transmission
Fill Plug 36 ft/lbs
Drain Plug 36 ft/lbs
Transfer Case
Fill Plug 36 ft/lbs
Drain Plug 36 ft/lbs
OTHER TOP QUALITY PRODUCTS:
By-Pass Oil Filters
Diesel Injector Clean
Cold Flow Improver
Cetane Boost Diesel Fuel Additive
PI Performance Improver Gasoline Additive
Product Recommendations and Drain Interval Chart