My sport came with bilsteins (blue), front and rear.I have the opposite view of Rancidx2. I would definitely go after market. For some engine stuff OEM all the way. Toyota doesn't make struts. They buy other manufactures struts and install them. They also don't buy the best strut out there for cost saving.
When it comes time to replace my front strut I will go with sachs. You might want to replace the spring. I would go with OE because it is hard to find the right spring rate. The pre loaded struts are typically low quality.
For the rear sachs or bilsteins.
Blue Toyota OEM Sport struts & shocks are actually manufactured by Tokico. You will see the manufacturer name on the parts sticker and it's not Toyota. They are not the most forgiving dampers out there but your aftermarket choices are few for the Rav4. Not sure if you can even find Bilstein struts but I heard Sach & Bilstein rear shocks are out there.
The pair of blue rear shocks were replaced on my Sport due to leakage on one of them. I requested the old parts be retained. The old parts each has a sticker saying it's manufactured by Tokico. It's definitely not Bilstein.The Sport model comes with Blue Struts/Shocks so to clarify do both (fr/rr) say Bilstein on them?