Love our 2010, but wife could not drive for same reason relating to headrests.
Solved problem by taking both front headress out, turning around 180 degrees, and then switching sides so they fit.
May not provide all the protection Toyota designed into these rests, but now can comfortably drive the car...
Did you not test drive the RAV-4 before buying it?
Have never heard anyone call a RAV-4 "uncomfortable", esp compared to a Saturn!
Reading all these reviews seems to indicate you are in a very small minority.
Just curious, what do you suggest they do with the headrests???
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