I wanted to update and search for more opinions from other forum posts about this problem.
As many of you know, this is when one or some of the windows are open at mid to higher travel speeds and the pulsationg thumps appears. It is due to the aerodynamic design of the vehicle that did not take into consideration that on warm (or other) days we may want to keep a window open!
I have had this problem in other cars but find it particularly annoying in my RAV4.
My dog loves to stick her head out of the back window when I am not interested in keeping all the windows down.
I have researched here and other forums and the best plan I can guess is to buy the WeatherTech visors and Sunroof deflectors. The WeatherTech is "in channel" rather than taping it to the body and reviews and recommendations lean toward in-channel. Apparantly these visors will help but not eliminate the problem. I don't think that keeping all windows open is an acceptable fix for me.
I would love to here some feedback from people who have tried this and on their recommendations on brands.

I think the sound is caused by the boxy design of the cabin. All you need to to is to just open a crack of one of the front windows and the sound should go away. The same thing happens to my wife's Honda Pilot also.