In most markets, the RAV4 is the only compact SUV or crossover available from Toyota. In other markets, it is the crossover counterpart of the Toyota FJ Cruiser .
The second generation RAV4 was originally offered in a number of trim levels in the UK: NV was front-wheel drive, while NRG, GX, and VX were permanent four-wheel drive with differing levels of equipment. Although the RAV4 was available as a three-door in Europe, Asia and Australia, the American model was now only available in a five-door configuration. A 1. 8-liter inline-four engine (only with 2WD) producing 92 kW (123 hp; 125 PS), 2. 0-liter inline-four engine producing 110 kW (150 hp; 150 PS), 2. 4-liter inline-four engine producing 118 kW (158 hp; 160 PS), and a D-4D diesel engine were available. Some RAV4s came with anti-lock braking system, electronic stability control, air conditioning, a height-adjustable driver's seat, cruise control, a six-speaker CD stereo and power windows, mirrors and seats. A sport package added a mesh grille, bonnet scoop, colour-keyed door handles, a roof rack, silver sport pedals, heated mirrors, gray-painted bumpers and fender flares, and sport fabric seats. Other options included alloy wheels, heated seats, a sunroof and keyless entry. 16-inch wheels were standard; larger tires were available on all-wheel-drive models.