I have bought 2 cars through AAA before (not an '06 Rav4 though so I can't give you a price). The dealer's AAA program prices always seem to match whatever their Costco program prices are, which is some dollar amount over invoice. This amount does seem to vary widely depending on the car. One thing AAA tells you is that there is no haggling over this price. However, this isn't true. Different dealers will have different agreed upon AAA pricing, and I have had dealers negitiotiate to beat another dealer's AAA price. Good luck.
I highly recommend Costco. When I bought my "04 it had only been out for 2 weeks or less and got it for $100 over dealer invoice.
Check several dealers since each one negotiates the price seperatly with Costco..
My Dealer was Family Toyota in Capistrano.