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This explanation is intended as a real basic overview of your 4WD.
First it is not a 4x4, which would allow you to select 4High, 4Low, 4Lock and Neutral, all of this is accomplished through a Transfer/case. You own a 4WD, your Rav4 uses the same principles , without input from you, all electronic. Place the shifter in D and go, all wheels have the potential of having power sent to them. You have Vehicle Speed Sensors (VSS) at ea wheel sending speed info to the Computer. The computer decides where to send power. On my RAV I have an additional button that sends power to all wheels until approx 50kph. Then it shuts off and your justa 4WD again. Vision a parking lot with real deep snow, press the button and drive right through. To re-cap. 4WD is not the same as 4x4. Place your RAV in D and go, the computer will detect the tires that are spinning and those that aren't and with the info from the VSS a message from the computer decides. If you have a Scan tool that can read VSS, you can, while driving, see the readouts of ea wheel as it spins. Then you can do the math ref percentages
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