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Can it hurt the transmission or just a user feel option.. to run in Econ mode always ?
the transmission cannot be hurt by doing any type of operator input
[where you don't lose control of the vehicle and wrap it around a tree]

computer controls the whole show, and since it is solid gears meshed
into solid gears and electric motors, it cannot be killed if you tried
[unless you drain the oil out and run it dry]

at any rate, eco is throttle response curve, and economy hvac settings
 
More stuff failing.

My 2020 95kmi Lim gas, and it's in garage or under a cover when not being driven.
1) The two front lower corner windshield plastic covers, turned brittle like glass. The thin sections that "seal" up onto the glass have begun to just crumble off. Not sure why, Toyota must have used supplier who was using cheap plastic.

2) The rear gate motors have now begun to make a serious groan/binding noise during the last 1 inch of the gate closing and locking. No noise in any other position.
 
1. Sun rot, yes, common on the 5th generation RAV4. They are actually not plastic, but more like a rubber, pliant material, thus more susceptible to sun rot. I bought a set to keep as spares when mine go.
2. Sounds like it may be the motorized latch, not the strut motors. Also, since the hinges are known to get corrosion deep inside the hinge pin, keep them lubricated with a penetrating oil so they don't bind up.
 
The corrosion in the hinge is deep inside where the hinge pin goes through the tube. You can't see it from the outside. When you get sufficient corrosion, the hinge gets stiff, the strut motors strain, and in some cases, the hinges actually bend which causes the hatch to be misaligned with the opening.
 
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