Thanks to all for posting on this issue. I've recently encountered the same thing with my 2019 RAV4 XSE, currently just shy of 90K km. A while ago I noticed the door would intermittently stop when opening, as though it had encountered an obstruction. This was intermittent and hard to recreate. I attributed it to freezing weather.
Last weekend the problem started occurring more frequently, and I noticed for the first time that the tailgate was not sitting square in the frame. Took it Toyota and they diagnosed a broken tailgate hinge on the driver's side, but said I'd need to go to a body shop for that repair. Here's the response I got from the body shop (really good guy, I trust what he's saying here): "Thank you for stopping by yesterday. As we discussed, see the estimate attached to compete the work on your Rav4. We have been seeing more and more like this from customers owning a 2018-2019. The struts are too strong for the aluminum gate and is over extending the hinges. We could try and just replacing the hinges and go from there but I don’t want to have you back multiple times chasing our tail. My professional opinion, this should be covered under an extended warranty. Take this to Toyota and see if they can put an inquiry to head office and see what comes out of it."
"Chasing our tail" means that it could be as simple as the hinge, OR it could mean multiple components need replacement - the door could in fact now be twisted. Quote ranges from hundreds of dollars ($CDN) for the hinge, up to $2,900 if a comprehensive fix is needed. I'll take his advice and start by talking to the dealership, but I'm not optimistic.
Quite disappointed, as a bought a Toyota product based on their reputation for quality. Within the last year I've had to replace a wiring harness at considerable cost, and now this