Just do what is is the owners manual. There is everything you need to know. Low yearly mileages doesn’t mean oil won’t degrade. Specially short distances and circumstances where the oil hardly reaches its desired temperatures will degrade oils, no matter if its synthetic or not. An engine that won’t be able to build up its temperature will have moisture in the oil pan. As a consequence, rust may occur on parts that once affected, will be extra vulnerable for oxidation. Draining such oil will also drain the moisture with it, no matter if the oil is crystal clear like new fresh from the can oil. And keep in mind that the temperature gauge in the instrument cluster sais nothing about the oil temperature at all. True, the RAV4 engines warm up very fast due to the clever motor management. As a consequence, the oil will warm up quicker than on conventional cars that have cam driven water and oil pumps. Stay on the safe side and do what’s in the book. You did not invent these engines.
