I'm not sure this unit would work for you. Looking at the back of it (in the
ebay pictures) the primary jack on the left (white & divided in 2) has no matching harness plug in the Tundra. It looks to be the primary power and speaker output jack. The Tundra plug for the power & speakers is a 20 pin plug. The other jacks, based on their shape and colors, look to have matches in the Tundra harness. But, without a RAV4 wiring diagram it would be hard to say if they match pin-for-pin. You can go to techinfo.toyota.com and pay a $10 one-day access fee to get schematics for the 06 Tundra and the 09 RAV4. Also, based on what you have in your Tundra now, it's very likely you have a separate amp for your radio (probably a JBL digital unit). There may be compatibilty issues with the E7019 on that point alone.
If you want to discuss further send me a PM.