Unless you have a specific need for an SUV you may be better off with a car than a small SUV. Diesel Jettas are a very popular and effective choice, and with their recent emissions scsndal they can be bought cheaply. If you want a bolt on setup you will be limited by the bolt on hitches available in North America long before the car is limited. As is typical if you buy a European manufactured hitch the tow ratings for the car magically double, with the manufacturer's approval for use in Europe only, lol. With a custom install the Jetta can tow a substantial trailer with stability and power you just won't get out of a small gas motor and inherently less stable platform like a small SUV. The diesel is important, towing power is all about torque and the deisels have far more and at lower rpms.
That said the ratings on the 6 cylinder Rav4 are into the 3500 pound area where you would have a lot of trailer options, so if a custom install is not in the cards then consider the larger motor with the tow package. It will still have a poor overhang ratio and a high ride height which will lead to less stability then say a Jetta, and that is true of all small SUVs. The Ford Escape is rated in the same 3500 pound range with the 2.0L Ecoboost if you really want a 4 cylinder.