I’m sure you’re not concerned about normal servicing, which is almost comparable for common vehicles, such as oil, filter, and braking.
If your concern is about other issues, such as stuff breaking (extra costs on top of normal maintenance), you should know that with regular maintenance, your RAV4 should be fine. You’re inquiring about the most dependable brand, so you shouldn’t be surprised if you stick to the recommended maintenance plan that are supposed to be done for every vehicle.
In my opinion they are one of the most reliable and well-made vehicles in that range and will last years and years. A friend bought a used Toyota Rav4 and drove it for 14 years.