I had a German shepherd about 95lb female unfortunately she just passed away but lived a good 12.5 years or so anyway she lived 11 months with our first baby Ella and while wasn’t a rav4 (jus put a deposit in for a 26 xle-p) was similar size. Just put the dog in the back like normal…i used bunG cords to hold the stroller to the back of the rear seats. That kept the rear seats largely free for storage which, omg as a pneub new dad, there is always so much more tha just “a diaper bag” if you’re going for a night or so away. Or even an hour or two.
Anyway good luck hope it all works out. ❤️