The owner's manual recommends 87 octane regular unleaded fuel.
The RAV4 is not designed to take advantage of higher octane gas, so
while putting it in will not harm your vehicle, you will receive no 
benefit and the cost is significantly higher.  If you are hearing
a "knock" or "rattle" sound from your engine during high load, and
the problem is reduced or eliminated by higher octane gas, then you
probably need an engine tune-up.