Leaps and bounds nicer (interior materials, design, and fit/finish), quicker, more efficient, smoother (suspension/vibration), and nimble than your Rav4.
Maintenance will be more expensive, although not much worse.
your car may or may not develop various rattles, if you get a sunroof equipped model your car may or may not experience leakage into the headliner, for which there is a TSB out (so, if you get a sunroof equipped car, get thr TSB taken care of as part of PDI if possible)... i don't know of any other specific common issues. Anything else would be a chance failure, not a common defect/design flaw.
They're great cars. You've made a good choice, I'm sure you will not regret it.