@WillRav4Tacos - Thanks for your extensive write up. Very helpful and much appreciated!
You bet. I know my post comes across negative but I would absolutely buy my RAV4 again. It is a joy to drive and look at (as much as a crossover can be) but I would have waited until the 3rd year of production for Toyota to work out the kinks.
Sadly my old Rav4 was totalled (someone else's reckless driving) and I was forced to get a new one when I did.
2019 has a number of TSBs, one for reprogramming the transmission to avoid a surging as the car does a low speed rolling start (California stop). There are two TSBs for the models with Torque Vectoring AWD, for the front transfer case "mooing" and the rear differential. Plus the potentially leaky roof rails.
If you're looking specifically for a used 2020 the front transfer case is a non issue as is the transmission programing, but for models with Torque Vectoring AWD, look for one with a rear differential manufactured after mid-May 2020 which will allow you to avoid the TSB for that one (scoot under the rear end and look for the little white sticker with the date code on the differential). If the roof hasn't leaked yet do your research here and purchase the new clips and adhesive pads for the rails and fix it yourself. It's really easy. Ask the dealer to flash the latest firmware to the DCM also before you buy it.
If you want to avoid pretty much all the headaches of the 2019 and 2020, just go for one manufactured in the second half of 2021.
Good luck!