any fuel-injected vehicle will be fine running E85 here in the USA. period. does it get fewer miles per gallon as a function of fewer BTUs per ml? Yep. The timing, however, will be able to ADVANCE since you are effectively INCREASING the octane rating. Not sure how much these Gen 1 Rav4 computers will be able to compensate, but newer turbo / supercharger cars LOVE the higher octane of this high-octane fuel, and can increase their boost safely by quite a significant margin. Gen 1 Rav4s will only benefit from lower cost of fuel (hopefully enough to compensate for the pain of fewer MPGs) and from the satisfaction of reduced fuel-dependency on OPEC nations.
E10 is a slightly different mix of ethanol compared to E85 and I'm not as familiar with that. But it's likely not measurably different than E85 in its potential drawbacks on aluminum that paperboy mentioned. I'm no expert, but I know that the API is a HUGE institution that would like to see as little E85 usage as possible... if you do your research (using duckduckgo.com - not google or bing ) you'll find lots of research. But that takes a lot of time.
And while these are my OPINIONS, they're based on research that I've read and personal experience that i've had (91 Corolla All-Trac used 50% E85 and 50% 87 octane for years with no drawbacks at all, 2011 HHR Super Sport used it too - no problems but i never got to modify the computer to increase boost).
