I can't really give any advice on the Rav4 regarding its price and inherent faults it might have, as I know nothing about it, but I can give some general advice:
I bought my current car (Peugeot 307 diesel) approx 8 years ago. It was 2 years old and a steal at £5 000. The only downside, it had 69 000 miles on the clock. It did, however, have a full service history, so I decided to take the plunge. 8 years later and the mileage now approx 140 000, I've had no major problems - I get it serviced regularly .... so if you know the ins and outs of the Rav4 and you're happy with the service history , condition, price, etc, then go for it :)