Not sure what year your RAV4 is, but I don't think any of the AWD models can be towed with any wheels on the ground. You're shopping for a trailer?
EDIT: Remco says that they may have a pump for 2005 and earlier, but they need your exact transmission model to tell.
2000 HR Endeavor 40PBD
Freghtliner XC, CAT 3126B