HI,
I run 42 on front and 40 on the rear. I get 100,000KM per set of tyres.
You can work out the optimum tyre pressure, of your Rav4, by monitoring the wear patterns across the width of the tyre. If the tyres wear on the outsides then you increase the pressure by a few lbs. If the they are wearing more in the centre then you decrease the pressure by a few lbs.
I swap tyres front to back only twice in a lifetime of the tyre (about every 30,000-ish KM)
Regards, Leigh