At 178k miles with all-time 4 wheel drive, your drive train has gotta need a good greasin'. Change you differential fluids too.
Also, was there a strong headwind during your mileage test? You say it's revving higher than normal and getting stuck in third gear?? Have a good listen and count the gear changes. At 70 mph, your RAV4 auto tranny should be in fourth. (Do they even have a fifth in the auto?) If thats the case, have a TRUSTED mechanic take a look at the transmission. Maybe your RAV4 is not going into "over-drive".
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