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There have been several wheel bearing failures reported, but as RatRav said they were at considerably higher mileage, if it is a wheel bearing it will get progressively louder. My money is on the transmission, my '15 Ltd had a bit of whine, always constant tho, no different when braking or turning.
http://www.rav4world.com/forums/123-4-4-general/249105-source-howling-while-moving.html#post2293641
http://www.rav4world.com/forums/123-4-4-general/249105-source-howling-while-moving.html#post2293641