The Rav4 that my mate's wife has is just a lifted Camry with a twinky little rear diff added. Good on the beach but I wouldn't take it seriously off road. The lowest engine accessory on the front of the motor is the a/c compressor which is direct drive (no clutch, just an internal valve) and it's sooo close to the front right chassis rail that a small knock will see it break the drive and disable the vehicle. I fixed one that had been involved in a minor shunt.
Oh and they're not actually all that small, they have a footprint as big as a RRC.
I'd suggest a Subie or a Freebie. A Forester will get most places and do it in comfort.

