I mounted a class III hitch from Draw-Tite and it looks pretty good from the rear. I have a rear pic of the vehicle posted on my album. If it does not show the fidelity you want send me your email and I'll send you a clearer picture. BTW I topped that hitch with a chrome half moon Bully Bar which looks sweet.
...pretty sure it's a Reese. I just took the stickers off it and you can hardly tell it's there. Having said that, it's only four bolts to hold it on if you'd prefer to only install it when needed. Putting it on or taking it off is only a 5 minute job.
As the RAV4 does not have rear bumper, it is more susceptible to damage from a rear-end colision. A trailer hitch along with the rear door-mounted spare tire acts as the rear bumper and helps reduce rear-end damage. I keep my trailer hitch on at all times. Having it on (and visible) may also keep some idiots from following too close.