No it will not fit. Seems they are not interchangeable.
Part # 5196742010. (rear tow bar) Toyota here calls it a transport hook.
RAV4 - 1996 to 2000 and also Sienna 1998 to 2003 (CE/XLE)
But if it is from a (Electric) RAV4 EV will work from a 2001 to 2003. (sold in California & other areas in USA)