I have a 2016 XLE and I did not get the convenience package. I did pay for the upgraded audio/nav though (mainly to get the bigger touchscreen, I just thought it looked better on the dash). Personally I still love my XLE without the convenience package. However, I wasn't really even thinking about it when I made my purchase. At the amount I already spent, I don't think I would have been willing to add another 2K onto my purchase price as I already went over my budget. If it is something you were already heavily considering, it sounds like you may miss not having it.
Personally I'm not over the moon about all of the driving safety features yet. I am only 25, I don't want to become overly reliant on safety features. Plus I have done well so far without these features, but I do see the appeal. I will say I was in a very tight parking lot last week, and the parking sonar would have come in handy then. Luckily I had a friend in the car who could direct me just to be sure I didn't hit a wall or another car. I think the built-in blind spots on the Rav4's mirrors are effective. Thus far they haven't caused me to switch lanes while someone was in my blind spot. I do still tend to check, but when I haven't, the mirror has been correct. I can see how the cross traffic alert is useful, but as long as I back out slowly, even if another car or pedestrian snuck back there, I tend to spot them before any incident occurs.
So anyway this all sounds like a personal preference thing. Based on user feedback here, I don't think you'd regret the feature. However, as someone who doesn't have the package, I don't find myself missing anything it had to offer. Of course I did pay for the feature I wanted- the 550 for built-in nav/audio upgrade that makes the touchscreen bigger. For what the convenience package offers though, I think if you have the money to spend on it and it isn't really going over your budget, you should probably go for it.