I towed a 16 foot Alumacraft Backtroller (almost identical to the Lunker) and a 40 hp Yamaha 4 stroke all last year with a Rav4 4 cylinder. Tow capacity is 1500 lbs and loaded down we were approximately 1400 lbs. So it was legal but not good other than short 20 minutes drives to local landings.
I did take it on one 5 hour trip with a few big hills and lots of down shifting. Now 6 months later, whenever shifting into reverse to exit the garage there is a distinct “click” when shifting… This was a one year situation and I will not do it again. Am buying a different boat and vehicle this spring.
So, my conclusion is If you have the 6 cylinder Rav4 you’re probably okay with a Lunker – otherwise if its a 4 cyl… I would say no if you are towing any regular distances at all.