The last generation RAV4 (2005-2017) used Toyota's 'New MC' platform which is shared with the Prius and Corolla. The current generation RAV4 uses the 'TNGA-K' platform which is shared with the Camry and Avalon. Since we're comparing 2019 models, the comparison of the RAV4 with the Camry is appropriate.

I believe Toyota is moving all their FF vehicles onto the TNGA-K platform.