Bike Hauler

Should be no problem...If you do not have a passenger in front, slide that seat as forward as possible.
Rear wheel towards passenger seat will give you a diagonal position for the bike.
I don't have a Rav4, but my midsized SUV has slightly shorter cargo area and I can load my Creo with both wheels on.
Put down a blanket to help slide the bike in and out, and protect your rear bumper.
 
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