hoots, thank you for your own prompt response. I think you should take your Rav4 to a muffler shop and ask if they can weld the bracket back in place with a bit of cleaning and scrap metal. Or the muffler shop may have some other ideas, like a clamp assembly? Alternatively, online parts sites call the pipe to which the bracket is (was) welded the "center exhaust pipe" and similar. I think the part number for the center exhaust pipe for your Rav is 17420-74820 but I am not 100% sure. I think there may be aftermarket versions of the pipe that are less expensive. But first, you need the correct Toyota part number. To check the part number, please post your Rav4's frame number, printed high on the engine bay firewall. I think the frame number will start with the digits "SXA10_ _ _."
Is your Rav4 right-hand drive? Auto tranny or manual tranny? I see the propeller shaft in your photo, so it is all wheel drive.
Here's one of the parts sites I use for research, and you should use it too:
Your Rav4 vehicle market is Europe. At the site, you want to drill down to Engine/Fuel, then Exhaust, then you will see the "Pipe Assembly, Exhaust, Center" listed in "diagram" 17-02.
The pipe costs around $200 at online parts sites.
If you replace the pipe, you should also replace the gaskets at its two ends. The bolts on this particular section of exhaust pipe are notoriously stubborn after years of being exposed to weather, heat, et cetera. But they can be freed, even if one has to use a power cutting wheel. The bolts may subsequently require replacement.
A possible welding repair by a muffler shop is likely a lot cheaper and just as good.