I actually did contact the manufacturer, and they assured me it was fine for the RAV4. I also found a post here from someone that said he'd pulled a RAV4 for thousands of miles on the same dolly. Problem is, I think, the dealer pulled the straps off the shelf and got some too short. I assumed they'd come with the dolly from the manufacturer. I will check for longer straps.
I'm a rider too. I've owned 25 bikes over my 50-year riding career. Currently there's a '99 ZRX and a '13 FJR1300 in the stable. I tend to ride them where I go and don't trailer then often, but I also use six straps.