Sorry, joining the thread late...................
My wife drives a 2001 RAV4, 2WD, and it's been a joy, all things considered.
We knew we took a chance in buying the first year model of a major redesign, but we've experienced very few problems, and none impacting the safety or driveability of the vehicle (unlike some others: VUE, Trailblazer/clone, etc.).
1. Front rotors replaced under warranty - squealing problem
2. Front dash anti-rattle kit installed - dash rattles were very common on 2001s
3. Catalytic converter - bad code in ECU burnt up the cat at 21K miles, replaced under warranty
A great site for resources, including links to AllData recall and Toyota TSB information, is
www.rav4world.com. I spent a lot of time there researching the new purchase and the few problems we've run into. Great site, check it out.
Best of luck in your new Ravy, we love ours (73K miles now). In some ways, I like driving it more than my Tacoma. The RAV is stylish, versatile, extremely maneuverable and gets great gas mileage (approximately 25 mpg, in all types of driving, almost 30 on the highway, sometimes).
--Ryan