Those decals are stuck on there a lot better than in years past. They really don't want you to remove them. My solution was to get a strap-on visor pocket and just cover it up. It needs a visor pocket anyway, whom ever decided to stop including those should be fired.
I removed mine by using a blow dryer and patience. I warmed it up good and then started to peel it off. You will start to get the hang of how hot to make it for easier peeling. When done, there will be a sticky residue left over. I used a product called Goo-Gone on a rag to remove the left over goo. When it was perfectly clean, I put on some Armor All for protection. Just go slow and have patience.
I finally gave it a go with my heat gun. It was a scary process and extremely tedious. My RAV4 is a 2016 and they put those suckers on to stay. I did the one on the back side of the driver side visor to start. I could not get it to peel, but it would melt and I could scrape the melted tag off with my fingernails. Rubbing alcohol on a rag worked to clean off the remaining glue. I hope the warning label that was in French wasn't important. I don't speak or read French.