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The Factory Service Manual is quite good too.
I hate the "If it ain't broke, don't fix it." rule of thumb. It's stupid in this context. When you are broke down late at night with a burst radiator hose burst because it may have been old, but not leaking at the time so you didn't replace it, well. you get the point.
If you want to keep driving and not have AAA on speed dial, do a proper PM and take care of things before they become an issue.
Here are some quick tips beyond the normal tune up.
Change all fluids. If it's a liquid, change it. Including brake fluid. Also change and filters. Don't forget the fuel filter.
Inspect the brakes. While you are in the area, repack the bearing with grease. Also check the rubber brake lines for cracks. I replaced mine at 250k. They looked fine, but I am not taking any chances with my safety. It's money well spent.
Inspect and/or change all belts. Including timing belt if the engine has one.
Replace all coolant hoses. By this point, they should still be good, but not for much longer. Don't forget the heater hoses and any other small hoses that might carry coolant.
Grease the driveline and any other points that need greasing. I think the Rav4 has CV joints. Inspect the boots for cracks.
Check the rubber fuel line that runs from the firewall to the engine. If it looks hard or brittle, replace it. If it cracks and squirts hot fuel on the engine, you get the idea.
Look in the manual and see when/if the valves need adjusting.
I think that about covers it.
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