The Ford is by far the better one.
Ford trucks have outsold ALL vehicles on the road car or truck every year for the last 35 years in a row. That can't be done unless you are the best. Some will say that the Toyota Camry is the best selling and it is but when they say it is the best selling they AREN'T counting pickup trucks, just cars.......
The Rav4 like most other Toyota trucks and SUVs has a nasty habit of rusting in half, no i'm not joking, you can read about it here:
http://www.toyotaframerust.com/