Wow, I'm really late to the party on this one, not sure how I missed it.
Congrats on your upcoming RAV4, it will definitely serve you well. As we get older, the higher stance and easier in/out of RAV4, Honda CRV, etc. is a real bonus, plus better sight lines while driving and all of the safety bells and whistles to keep us from running over one another!
Just to pile-on to the Prius love-fest...wife has a 2004 Prius, which is the first year of the second generation, and I have a 2012 Prius Plugin, which is the first year of the plugin option. My wife loves her car, it's still going strong. The only major repair was the display system computer, which would have been a $3K repair had it not been covered under warranty. My car has been rock solid, 108K miles to date and no major issues. We take our cars to an independent garage that specializes in Toyota and especially Prius, and the owner tells me that he rarely ever replaces the batteries in these cars, so any fears you may have (or rumors you may hear) about battery failures is very unlikely. He owns several, too, and says they just keep going and going. In fact, Toyota extended the battery warranty from 8 years/100K miles to 10 years/150K miles starting with the 2020 model year.
My wife's 2004 Prius gets close to 50 mpg. My 2012 plugin gets closer to 56 mpg between fill-ups and with several electric recharges. My plugin was said to get 15 electric-only miles on a charge, but in reality it's closer to 10. The current plugin says 25 electric-only miles, but I suspect it's less. The plugin battery comes at the expense of the loss of a spare tire. That's not been a problem so far...