Like Thor 293 stated for the RAV4 about the only option is a trailer. The problem here is the weight of the RAV4 plus the weight of the trailer cannot exceed the towing capacity of the motor home, which is generally 4,000 to 5,000 pounds.
If I were in this situation:
Option 1 - I would consider finding a new or used tow dolly and a throw away front wheel drive car. By throw away I mean something used maybe high mileage, but still in good enough condition to give you a few years of towing enjoyment. When it days are numbered donate it to charity and take the tax deduction, buy another throw away FWD car, load it on the same dolly and keep on rolling.
Option 2 for me would be to buy a dolly and swipe my daughters FWD Focus during my travels. She could use my car during my absence.
Now, my wife would tell you that at times I come up with some crazy ideas but I always say that all options must be explored and evaluated.
As a note, I use a tow dolly and with more and more cars coming off the flat towing list I will continue to do so well into the foreseeable future.
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Dave
US Army (Ret)
2020 Entegra Accolade 37TS
2019 Jeep Grand Cherokee Trailhawk (Toad)
FMCA - F432054
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