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I rather doubt that there is a factory amp with the standard radio set up in 2004.
With search I found this......may or may not help.
http://www.rav4world.com/forums/87-4-2-accessories/76725-installing-subs-amp-2004-rav4.html
With search I found this......may or may not help.
http://www.rav4world.com/forums/87-4-2-accessories/76725-installing-subs-amp-2004-rav4.html