I've yet to see a Rav4 set up for offroading, IMO the two just don't mix...especially if you're not going to lift it. The general keys to a decent offroading vehicle are a big lift, big tires, a big engine, and a strong 4wd. The Rav4's engine is obviously not too beefy, and without a lift you're not going to fit big tires on there. If you're dead set on using a soccer mom suv for mudding though, be sure to invest into a good winch...you'll probably be using it alot.