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It's possibly the fuel line shown in the drawing at this site:

If you post your Rav's frame number and year, I will check further.
 
Nobody can ID that pipe.....the pic is too close to determine where, what why .......save yourself some trouble and just replace the length of it with fuel grade rated rubber hose.........

Just by guessing, I'd say it's a vapor return pipe. These cars don't have an actual liquid fuel return line.....just vapor.......and judging by how rusty it is I bet there's junk in the tank ready to clog up the fuel pick-up filter.
 
I use the online drawings to identify possible part numbers. Then I google on the part numbers for photos of the part. Comparing the photo to the part on one's Rav4 often confirms or denies that the part number corresponds to the part being sought.
 
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