It sounds like the reverse band broke. Typically with automatic transmission when you put the transmission in reverse a couple things happen. Usually, the forward clutch engages and the reverse band engages holding the reverse drum from turning, which causes the planetery gears to make the vehicle move backwards. If the band breaks there is nothing told hold that drum from turning and you have a forward gear. The bad news is the trany is going to have to come out to be repaired and usually the reverse drum is one of the first things to go into the trany, so it has to be completely disassembled. Take it to a transmission shop have them check it, hopefully it's something simpler.
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UNSAFE TO OPERATE: Have this vehicle towed to a shop. INFO: The RAV4 is known to have transmission failures. Did you keep the fluid serviced and changed? RECOMENDATON: Sight unseen. Have not ever seen this happen but sounds like a valve body issue. Have it serviced now. before total failure occurs to bot the RAV4 and your self. Hope this tip helps. R/ David
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