I have the same issue since I bought mine, its a 2019 le awd. The problem only happens when the outside temp is below 5degrees centigrade. It really bugs me and dealer and Toyota dont consider it a problem. It will do it at any speed when the rpms are in the 1800-1900 range under normal acc leration, noise will go away if you decelerate. I have been in the auto repair industry for 40 yrs and to me its the exhaust vibrating. It could be probably fixed by adding vibration dampers on the exhaust , but where to place them, how many and how heavy is the million dollar question. Since only a few people will notice and complain about it , dont expect Toyota to do anything about it. I even tought about trading my Rav4 for a Honda or Subaru.