First, remember that your MPG will vary depending on many factors:
 - how far you are into your break-in period.
 - whether you have 2WD or 4WD (4WD reduces fuel economy).
 - automatic or manual transmission (manuals are generally better).
 - whether you run the air conditioning (A/C reduces fuel economy).
 - cars that are sold in California and Massachusetts (others?) are 
   required to have the "CA" emissions option that can reduce mileage.
 - many states now require "oxygenated" fuels [MBTE additive] in 
   cold weather or even year-round (can reduce fuel economy).  
 - using a roof rack or other accessories can increase drag and
   reduce fuel economy.
 - adverse weather can reduce fuel economy.
 - bad driving habits (fast acceleration, riding the brake, etc)  
   can reduce fuel economy.
 - increasing tire pressure can improve fuel economy slightly due  
   to reduced rolling resistance.

To compute MPG, you should average stats over a number of fillups 
and make sure you fill your gas tank to the same level each time, 
preferably using the same gas pump at the same station, if practical.

The Environmental Protection Agency <http://www.epa.gov/> tests all vehicles  
sold in the US and publishes fuel economy estimates.  The RAV4 mileage 
depends on transmission and whether the vehicle has 4WD:

For 2001:

Drive, Transmission     City/Highway estimate
===================     =====================
2WD, 5-speed            24/29
2WD, Automatic          24/29
4WD, 5-speed            23/27
4WD, Automatic          22/27

For 2000:

Drive, Transmission     City/Highway estimate
===================     =====================
(could someone please send me these numbers?)

For 1998:

Drive, Transmission     City/Highway estimate
===================     =====================
2WD, 5-speed            24/28
2WD, Automatic          23/28
4WD, 5-speed            22/26
4WD, Automatic          22/26

For 1997:

Drive, Transmission     City/Highway estimate
===================     =====================
2WD, 5-speed            24/30
2WD, Automatic          24/29
4WD, 5-speed            22/26
4WD, Automatic          22/27

For 1996: (thanks to HouryCori@aol.com

Drive, Transmission     City/Highway estimate
===================     =====================
2WD, 5-speed            24/30
2WD, Automatic          24/29
4WD, 5-speed            22/27
4WD, Automatic          22/27


If your fuel economy is significantly below these estimates, and cannot be 
accounted for by any other factors, you should see your dealer service 
department for diagnosis.  Note that many drivers report that fuel 
economy can be poor when the vehicle is new, gradually improving to
acceptable levels through the break-in period.