i've got an auto 4 cyl rav4 cruiser, a month old. i'm getting around 10 ltr/ 100 km. i am quite happy with that. it isn't much worse than my mazda 3 sp23 which i had before the rav.
i have heard of people with the v6 rav4 actually getting better fuel economy than this. perhaps because the v6 engine, taken from the aurion, has good low down torque, and copes better with the size of the rav4, and so you can get good economy. i'm sure you could also get bad fuel economy with the v6 if you hooned it a bit, which would be a temptation... i figured that by getting the 4cyl i wouldn't have such a temptation and would use less fuel.
but anyway i have to say the rav is a superb car and i am very very happy with it