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A couple points here:
it is probably just the tire rubbing on the inside of a wheel well. Have a tire shop or mechanic check for wear of suspension components. Excessive wear on suspension arm bushings, ball joints, struts, etc. could cause "slop" or excessive travel forward and back which is not normal.
Itis also good practice to NEVER turn to steering all the way to the stops in any four or all-wheel drive vehicle.
The RAV4 is a 4 wheel drive vehicle. All wheel drive is when all four wheels have power at all times. This can be permanent or manual engaged. Clutches are used to prevent tire damage. 4 wheel drive is when one set of wheels has power and the other two can be engaged manually or automatically. You should use 4 wheel drive when in mud or snow and extra traction is needed. 4 wheel drive can not be used on dry pavement.