I have a RAV4 on larger tires and don't see it beyond a few small familial similarities, which are present on the last 25 years of 4Runner too.
I see a lot of 4th gen in this design, particularly in the flanks, but really it just looks like a 4Runner with some of Toyota's updated styling cues.
Here's the 5th gen that I rented last year for reference.
After crossing the continental divide in the orange TRD Pro, I'm excited for the new drivetrain. I loved everything about the rented 4Runner, except the ancient drivetrain and utter lack of power. When it shifted into 3rd gear while the cruse control was set to 75mph, that's when I knew for sure that I wasn't going to buy one.