We had a 2008 model - great tow car, and pretty economical when not towing - and of course, being Toyota, it never goes wrong! Obviously with a side hinged rear door, you can't open it when hitched up, but this didn't prove much of an inconvenience for us. We only changed the car because we needed a heavier one when we changed caravans. The only negative thing about the RAV4 is that it doesn't have a spare wheel (not even optional).
Shouldn't be an issue unless the door is low, our Disco door opens up OK when the trailers etc are on, just have to watch the jockey wheel post on the four-wheel trailer, the big trailer hasn't got one so not an issue.
Find a friendly caravan owner and try it for size....
We have a Rav4.2 (2003 model) with the spare wheel on the back door, although I can open the door slightly to gain access with the van hitched up and it tows our 1000kg Elddis Force 5 caravvan very well
I have 2003 2.0 litre diesel, fitted with a Witter towbwr. I have the towbar mounted in the top set of holes (two seta are available on a Witter), to make the caravan sit level. I have had to modify the bottom of the door to clear the towball, i.e. cut away the bottom plastic trim and a bit of the rear door.
It pulls an Avondale 470/2 adequately but nothing special, not a patch on a VW 2.0 TDi.