Thanks @campbeam and @Tony Prodigy for the info.
@bob007 As per T&C from TOYOTA, my car is still with warranty as long as it's serviced properly.
https://www.toyota.com.au/-/media/toyota/main-site/page-data/warranty/files/toyota-warranty-advantage-terms-conditions.pdf
In order to keep my warranty, I probably will have to keep all my receipts for parts and oils.
The reason why I want to service my RAV4 - I know the dealership use VPS 10W-30 for oil change. Nothing wrong about the oil but I want to use better names, due to 12 months service interval of the latest models. I am looking to switch to 0W-16 or 20 from Penrite or Mobile1.
I have been servicing my 2012 COROLLA for over 4 years and have no issue performing most of the work as per log book.