Unfortunately, there’s no straightforward answer as to whether you can flat tow a RAV4. It’s a resounding maybe. You can flat tow a RAV4, provided it’s a manual transmission and 2WD— this much is certain. However, you can never flat tow an AWD RAV4, as it can severely damage the drivetrain. The same goes for a 2WD RAV4 with an automatic transmission.
If you have a manual transmission RAV4, go ahead and flat tow it in neutral. Otherwise, you’re going to need a flatbed for the AWD or a two-wheel dolly for an automatic RAV4.