Make sure you’re basing that towing capacity on the vehicle, not the hitch. It is not uncommon to install a hitch with a higher rating than the vehicle itself. The lower rating applies.
In 2010 only RAV4s with the V6 engine and factory tow package (HD radiator and alternator) earn the 3500# rating. If needed you can run the
VIN to determine whether yours has the factory tow package.
If your RAV4 is equipped for the the 3500# rating, then you’re good to go with plenty of margin. You will want trailer
brakes, which your
Trillium may or may not have, along with 7-pin wiring and a brake controller in your vehicle.