My daughter's 2003 Matrix has the same problem: tensioner bolt hits the frame when trying to remove it.
If the RAV4 is similar, you have to loosen the bolts in the right-front motor mount (there are 3 bottom-side MMs: rear, right-front, and left front). Then loosen the top motor mount on the top of the wheel well by the shock tower, if I remember correctly.
Then, raise the engine up 1"-2" by placing a block of wood on the jack with the block up against the edge of the oil pan (jack doesn't have enough lift to do it without the block). The bolt can then be removed.
Tip: place the center of the jack on a couple pieces of 2"x4"s between the wheels to get the wheels off the ground to keep it from rolling, because you can't get the jack/block quite straight up/down, and the jack will try to roll away when you start the lift, and drop the engine back to its resting point (ask me how I know).
Again, this is all for a Matrix, so YMMV. Good luck!