I've towed an Escape 17B (2100 lbs dry, 3000 lbs packed for a long trip) 33,000 miles with a 2010 RAV4 V6 with tow package. I love the combination & compared to the 4 cylinder far more pulling power. I've had no stability problems with crosswinds, trucks, etc. I do use a weight distribution hitch since the RAV4 is essentially a front wheel drive vehicle.
That said, I do miss having a truck bed for things I don't want to put inside the RAV4, and the ground clearance of the RAV4 limits some of the "jeep trails" I might be able to drive with a truck.
Do be sure the RAV4 has the tow package. Without it the V6 is limited to 2000 lbs.
The RAV4 has a 5 speed transmission, and Toyota recommends towing in 4th. I get 25 MPG unhitched, and 15MPG towing the Escape, mostly on secondary roads at 55 - 57MPH.