We pulled our highwall Flagstaff pop up camper (3500 lbs) home with our V-6 Ford Escape. Similar towing capabilities to your RAV4, and just the few miles from the dealership to the house was enough to know that it wouldn't want to be something I would do on a regular basis.
Keep your weight to around 2K max and a low front profile. Our camper and A/C sit higher than the roofline of the Escape, and created additional drag on the vehicle. The contoured profile of the Casita would help with towing significantly.