Do you already own the Rav4, or are you shopping for a tow vehicle as well?
The previous version of Rav4, the type with the spare tire on the back, had a 3500 lb tow rating (properly equipped) with the very capable 3.5L V6. I could be wrong but I think the 4 cylinder version was rated for 1500 lbs, same as the newer model. The V6 could tow something like a 16' Scamp or Casita, at around 2500 lbs loaded, but the I-4 has 100 less HP and about 60 ft-lbs less torque, so it will struggle on the grades. I see you're in WA, so you probably would be towing up some steep grades, right? The 4-banger could tow a 13' Scamp/Casita, but you will not want to push it hard on those grades. Realize that a non-turbo engine will lose about 2-3% of its power for every 1000' of elevation, too. You would be towing right at the limit even with the trailer loaded lightly. I don't think you will be very happy with the performance. If you were traveling in the flatlands it would be a different story.
I used to own a similar trailer, a 17' Burro, which I towed from OK through the Rockies to Zion NP and back, with the same 3.5L V6 in a Highlander. It handled the 2200 lb. Burro decently well, but I definitely didn't set any speed records. Even with a 13'er I would strongly favor the V6 over the I-4.