There are quite a few "not so big" vehicles towing Airstreams. We tow our vintage 73, 23' with a mid size car. Not sure what the Rav is good for. The jeep Grand would work for sure.
We have had ours for 10 years and did many updates and up grades. Laminate floor, new kitchen, drapes, toilet. It still has the original dometic fridge
. They do require work, repairs, and upkeep but it has been fun.
We would also like to have an egg so we could consider a smaller, more fuel efficent TV. Always keep an eye open for an interesting one.