Have a 2003 Rav4 with Manual. I have driven it through my field in winter in over a foot of snow, it really was unstoppable and surprised me how good the 4wd system was, it was only when hitting a three foot drift that it came to a stop. Did not get stuck though, reversed and it popped out of the bank leaving the front bumper pattern stamped in the snow.
I have had some issues with it, but I think this was more to do with lack of maintenance of the first owner. The transmission, transfer case and differential had very little oil left in it and probably was never changed, the steel headbolts pulled the aluminum threads out of the block, and to effect the repair involved dropping everything out the bottom of the SUV. However, I repaired and rebuilt the engine using time-sert inserts for the block, port and polished the head, had block and head milled and pressure tested, and since it was out replaced clutch, and replaced all the valve caps(gap is determined by spacers on caps themselves).
They are a great little ute, I want to start using it as a mini camping rig next year and am almost finished a full teardown on her to renew wheel bearings, transfer case, steering etc. Overall a great purchase.