Purchased my RAV4 brand new. Check engine light was on after about one year. Catalytic conv or O2 sensors were always said to be the reason. At 100,000K it started to slip between 2nd and 3rd gear. Causes major issues! I just received something from Toyota saying that they will reprogram my ECM for no charge now, but unfortunately for me, this defect already ruined my transmission. Do not even think about purchasing a 2001-2002 RAV4 unless you have several thousand extra dollars to replace a transmission and ECM (avg.$4K). Trust me!!
I bought Toyota because I bought into the "foreign cars mean higher quality" marketing. I'm not so sure anymore. This is a major issue for me in a not- so-stable economy. I will not purchase another Toyota.