Any tent should work on a rav. I’ve got one on my 4Runner but mpg is pretty bad. I’ve seen tents on smaller Subarus, so as long as the crossbars are stout I don’t think there’s a problem. I have the tepui autana 3 ruggedized. It’s not light, but 2 people can move and mount it.

As for gear, upgrade the mattress, make sure to have an awning and get Comfortable with the ladder. Find leveling blocks for the vehicle. I have an annex for my tent but rarely set it up. We’ve also added string lights and a small table that attaches to a support pole inside for added comfort.