It all depends on how much below 2000kg, Jenny. The highest towing limit I could find for any 2019 RAV4 variant – the GXL 4X4 model – was 1500kg, well shy of your target limit. And to be honest, I think that even if you could find a mid-sized SUV with the legal ability to tow anything like 2000kg, you’d be stretching the friendship. It’s not all about engine power, after all; the mass of the towing vehicle itself and its footprint on the road also comes into the reckoning. I’ve seen plenty of medium SUVs towing loads that are, in practical terms, too heavy for them, holding up traffic and making a holiday vastly less fun than it should be.
You’re probably better to go shopping one size bigger and look at, say, the Toyota Kluger which can legally tow 2000kg and will give you a bit of performance headroom, making things safer and more relaxed on the road.