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22 Rav4 XSE Hybrid
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I have a 2021 but I'm sure the behavior is similar to the 2017.

Mine consistently turns the ICE on/off as needed to maintain heat. Heated steering wheel and seats run off battery power which is nice.

I imagine it's still better than a traditional ICE which has to have the engine on to have any heat at all. At least the hybrid seems to turn the engine off after it successfully gets the heat at the level you want it to be, and then only turns the ICE on back on after the car starts getting colder.
 
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