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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)
 

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Koebben when you say tow bar there are also tow hooks at the back. This is what I was referring to. There are also tow hitch which are completely different.
 
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