We just bought a 2008 limited model (25,000 miles) with the v6 and two wheel drive and can't be happier. The car is fast and smooth. The leather seats are very comfortable. We get about 23 mpg, which is better that the 4 cylinder Accord that we had before even though that car was rated at 12/31 and this Rav4 is rated at 19/27.
We have the optional third-row seat, which is small, but great in a pinch when we have a couple more kids to take somewhere. People can't hear us well with the bluetooth cell-phone link, but it may just be the phone causing that issue, not sure yet.
engine, ride, space, gas mileage, comfort
Road noise is a little loud at 70mph but not bad. There is also a little transmission whine, but I guess it is common to rav4s and it is barely noticeable and doesn't mean anything is wrong. Maybe some more sound dampening would get rid of it.