Terry the problem is not power and torque, of that you have enough.
The RAV4 is a bit “light” but can tow well. Problem most people experience in a short while on the diesel Rav4 especially is the oil usage. So make sure before you tow that you have no excessive oil usage, before straining the engine a bit.
The Rav4 is also soft on rear suspension. (I have a 2017 Rav4 and a 2017 Fortuner)
From a legal side you can tow a caravan of max 1600kg loaded (GVM).. Which is basically most smaller sized up to the regions of a fleetline. I believe the actual limitation is on the RAV4 towing rating in the booklet.. I know the 2.0CVT is 1000kg (although legally I could also tow around 1600kg with it but the manufacturer limit is 1000kg so the lowest is the one to use) – Check in the booklet, there is specific trailer weight limitations and tow ball weight limitations.. I would stick to that….
The ability to tow is there… I am just not always sure on the space side (ok I have 2 kids and 3rd coming April) and how much tow ball weight you should have before it lays too low at the rear….
Good luck and hope all goes well.. I have seen Rav4’s tow a few vans.. 😉