The RAV4 is a great vehicle! They'll go anywhere in AWD until you lose ground clearance and bottom out.
But you're nuts to not wait for 7 years and see what comes out by then.
Or else, sell the Corollas and go all in on one vehicle like the RAV4.
Tacomas are way over-rated if you're trying to get bang for the buck. And don't ever bother with a non-4wd pickup--they won't go as far as a little Subaru or RAV4 or CRV with all-wheel drive.
If towing is in the equation at all, skip over the RAV4 and CRV. Look at Highlander and Pilot instead. Or the Acura MDX with SuperHandling AWD. That one has true balanced awd like a Subaru only in a bigger and nicer package.
