I thought ABS was standard on the '05 Ravs.
The easiest way to determine if you have ABS is to stomp on your brake pedal while going 30 mph (of course not while there are other cars around). If you come to a squealing stop then you don't have ABS. If you feel the brake pedal vibrate and hear strange groaning noises, and only hear a few chirps or short squeals from the tires, that means you have ABS.