A while back, well a year or year and a half ago, there was a good deal of discussion about the replacement of the steering rack input shaft seal on a RAV4. It's a piece of cake! Open the hood & disconnect the battery. Be sure and mark or remember where all the wires and hoses go. Remove the coolant recovery bottle, the air filter and air filter box & the air box to intake manifold piping. The charcoal cannister just lifts up out of some alignment bosses. You can now see the steering shaft coming down through the firewall ahead of you and a little to your left and down. Now open the drivers door and look under the dash you will see a ujoint with bolts on both ends. You should not have to mess with the top bolt?? but take the bottom bolt out. ( At this point make sure you have the wheels and steering wheel straight ) Tie the steering wheel off if necessary to make sure it will stay straight ahead. Now go back outside and remove the bolt at the bottom of the outside ujoint. At this point you should be able to slide the outside ujoint system up and off of the steering rack input shaft, then down and out of the inside ujoint. Pull the cover up off the steering rack input shaft and you are at the snap ring and seal. Remove the snap ring and then remove the seal by whatever method you choose. Replace the seal ours was $4.80 and the snap ring sharp edge out $8.50 with our business discount from the local Toyota dealer. Put all the components back in a reverse method of the way you took it apart. R&ring the snap ring and seal and getting the steering wheel back straight is the hardest part of the job. With someone to help align the steering wheel and give moral support you should be able to do the whole job in two or three hours tops. This was on our 4.1 but the job should be about the same on all the RAV4s give or take a little time. Ours was done in a hour and a half but we had to pull it back apart to get the steering wheel centered right so it took another half to three Quarters of an hour or closer to the three hours total. Good Luck.