i havent seen 2001 rav4 yet, but if your engine doesnt have a dip stick for tranny fluid, you may have to lift the vehicle to access the fill plug, when found, open it up and just check it by inserting your finger, you will know the oil is black and probably low.
you may probably notice that they access that fill plug (not so hard to access it if they use a hoist or a pit).
your dealer just did the clutch brake fluid and cat. but not your diff and tranny, sounds legit to me. check your dealer's worksheet comments and items that they really did. usually, if you have it maintained last visit at the dealer, they will tell you the conditions of your fluids.
you may probably notice that they access that fill plug (not so hard to access it if they use a hoist or a pit).
your dealer just did the clutch brake fluid and cat. but not your diff and tranny, sounds legit to me. check your dealer's worksheet comments and items that they really did. usually, if you have it maintained last visit at the dealer, they will tell you the conditions of your fluids.