I would have to say yes, they'd fit fine. Just make sure that the bolt diameter is 5 X 114.3mm (which it probably is), and that the offset is similar. Not too sure what the offset is on 4.2 alloys? On our 4.1 RAVs, which is the same as your 4.2, we could put on rims from Camry's and early model Lexus RX300, etc..
I got some rims from an entirely different make, Nissan. It is a bit more complicated with other brands because of hub fitment issues. The rims that I have are off of a Nissan Skyline and needed to be fitted with hubcentric rings for proper fitment: