Do I need to get my oil change done at a toyota dealer or can I go elsewhere?
You can go anywhere / do it yourself. I highly recommend synthetic oil, it just seems to run smoother and be more reliable. It will cost a little more but you can run it for twice as long. Just check your owners manual for the type of oil you need. Most 20 minute oil change places have all common oils, but I have to call ahead for 5W20 synthetic.
If you're still under warranty I would take somewhere that will give you a record of having it done. If you have any problems, then you can prove you kept up on proper maintenance while making a warranty claim.
Search Toyota RAV4 Questions
Toyota RAV4 Experts