My current Rav4 is a 2.4L 4 cylinder petrol engine, which is really a Camry engine in an SUV.
The only 2 things I can complain about are:
1) High road noise.
2) Fuel economy is not that great.
Apart from that it's a bullet proof engine. My previous one was a diesel, which was made for the euro market, and hence had much higher quality. The indicator and wiper were the opposite way around, but it had more solid feel to it, and was great on gas.
This feels light and agile at lower speeds, has a very comfortable seating position, but the front seats lack back support. Otherwise it's a very roomy and comfy vehicle. I once managed to fit 23 pieces of luggage in by folding the rear seats.
The rear passenger seats go back and forward to allow enough leg room.
I love the fact this has a wheel attached to the back door. This would be the last model that has this feature.
I personally have driven the new shape lately, which has more power and has a more solid feel to it, but I would choose mine over the new one any day, simply because of how roomy it is inside, and for the overall look.
As with any other Toyota - this car is also bullet proof; nothing has gone wrong. I have owned it since new, and it has never missed a beat. If you look after them - I don't see why they won't do million km.
As for 4WD - it does lot more than what you would think it would be capable of. I have taken to many work tracks where a Mitsubishi Challenger struggled, but this did fine.