Can’t say for definite on the RAV4 but my wife just got back from a trip to the USA where she hired (or rented lol) a brand new Corolla and she said that it used a Toyota infotainment system without android auto (can’t talk about Apple integration as you couldn’t pay either of us to have an Apple device)
"Man is born in freedom, but he soon becomes a slave, in cages of convention, from the cradle, to the grave."