Used 2021 Toyota RAV4 for Sale nearMadison, WI

Compare 2021 Toyota RAV4 Trims

The 2021 RAV4 lineup offers a range of trims from budget-friendly options to sportier models, all with impressive fuel efficiency.

• Starting at $22,222
• Best MPG/MPGe: 28 city / 35 hwy
• Most Popular: XLE AWD

Trim Overview

Prices updated weekly from CarGurus listings.

Quick Compare Table

Listing prices sourced from CarGurus — updated weekly. OEM specs from manufacturer data.

Missing data displayed as "—".

Trim Deep Dives

LE FWD — "Who It's For"

The LE FWD is the pick for shoppers who want a budget-friendly option without sacrificing essential features.

• Avg. market price: $22,222 (updated weekly)
• MPG/MPGe: 28 city / 35 hwy
• Inventory: 1,974 listings — widest selection in the lineup
• View LE FWD listings

XLE FWD — "Who It's For"

The XLE FWD is the pick for shoppers who want a well-rounded SUV with added features without a significant price jump.

• Avg. market price: $23,440 (updated weekly)
• MPG/MPGe: 28 city / 35 hwy
• Inventory: 3,616 listings — widest selection in the lineup
• View XLE FWD listings

LE AWD — "Who It's For"

The LE AWD is the pick for shoppers who want all-wheel drive without breaking the bank.

• Avg. market price: $24,816 (updated weekly)
• MPG/MPGe: 27 city / 34 hwy
• Inventory: 3,136 listings — widest selection in the lineup
• View LE AWD listings

XLE AWD — "Who It's For"

The XLE AWD is the pick for shoppers who want sporty features and all-wheel drive in a popular package.

• Avg. market price: $27,290 (updated weekly)
• MPG/MPGe: 25 city / 33 hwy
• Inventory: 5,071 listings — widest selection in the lineup
• View XLE AWD listings

XLE Premium FWD — "Who It's For"

The XLE Premium FWD is the pick for shoppers who want a touch of luxury without the AWD price tag.

• Avg. market price: $26,041 (updated weekly)
• MPG/MPGe: 28 city / 35 hwy
• Inventory: 1,464 listings — widest selection in the lineup
• View XLE Premium FWD listings

XLE Premium AWD — "Who It's For"

The XLE Premium AWD is the pick for shoppers who want premium features and all-wheel drive for added confidence.

• Avg. market price: $27,983 (updated weekly)
• MPG/MPGe: 25 city / 33 hwy
• Inventory: 1,471 listings — widest selection in the lineup
• View XLE Premium AWD listings

Adventure AWD — "Who It's For"

The Adventure AWD is the pick for shoppers who want a rugged SUV with extra features for outdoor activities.

• Avg. market price: $25,861 (updated weekly)
• MPG/MPGe: 25 city / 33 hwy
• Inventory: 673 listings
• View Adventure AWD listings

Limited AWD — "Who It's For"

The Limited AWD is the pick for shoppers who want the most features and luxury in the RAV4 lineup.

• Avg. market price: $31,995 (updated weekly)
• MPG/MPGe: 25 city / 33 hwy
• Inventory: 1,208 listings — widest selection in the lineup
• View Limited AWD listings

Trim Recommendations

Most Popular — XLE AWD

With 5,071 active listings, the XLE AWD is the clear volume leader in the lineup.

Browse XLE AWD listings

Best Budget Option — LE FWD

At $22,222 avg market price — below the lineup median of $25,951 — it's the most accessible entry point.

Browse LE FWD listings

Best for Fuel Economy — LE FWD

The LE FWD offers the best fuel economy in the lineup with 28/35 MPG.

Browse LE FWD listings

These recommendations are based on CarGurus' proprietary market data from September 17, 2026, CarGurus experts' opinions, and generative AI.

How much does the 2021 Toyota RAV4 cost?

Prices have softened 1.38% compared to this time last year, making it a favorable time to shop this model year.

There are 3,996 listings available, which gives you a solid pool of used RAV4s to compare.

Is the 2021 Toyota RAV4 a good car?

Generally — the 2021 Toyota RAV4 earns 4.43/5 from owners and 7.33/10 from our experts. The model scores 8/10 across Look and feel, Form and function, and Safety.

Owners repeatedly praise its reliability, comfort, fuel efficiency, spacious interior, safety features, good handling, and value for money. In use, that lines up with the RAV4’s quiet cabin, plenty of cargo space, and broad everyday appeal as a practical compact crossover.

The trade-offs are fairly pedestrian performance and sluggish touchscreen response. Even so, the RAV4’s use case is straightforward: if you want a practical, broadly appealing family crossover rather than a sporty one, it fits that brief well.

35.4% of listings are priced as good or great deals, so there’s still room to shop carefully.

Is the 2021 Toyota RAV4 reliable?

Owners rate it 4.43/5, a solid signal of long-term satisfaction.

Drivers specifically praise its reliability, and the ownership feedback also points to a dependable, trouble-free experience over the long term. The expert review reinforces that impression by describing Toyota’s legendary reputation for reliability and noting that the RAV4 is a solid performer in the categories that matter most to shoppers.

ToyotaCare adds two years or 25,000 miles of free factory-scheduled maintenance and two years of roadside assistance for new-car buyers, which is a nice ownership perk. For used buyers, the main long-term risk is making sure prior maintenance and wear items were handled consistently.

What should I look for when buying a used 2021 Toyota RAV4?

Accident-free inventory is solid at 75.3% — always verify the vehicle history report.

You should still run a history report on any candidate and prioritize a pre-purchase inspection, especially if the listing price looks unusually attractive. Focus on overall condition, maintenance records, and signs of wear in the cabin and controls, since some owners mention small display controls and missing features.

Key things to evaluate:

• Trim level: The gasoline lineup includes LE, XLE, XLE Premium, Limited, Adventure, and TRD Off-Road. Lower trims are more basic, while higher trims add more comfort and convenience, but material quality does not rise dramatically with price.
• Powertrain: The gasoline model uses a 2.5-liter four-cylinder with 203 horsepower and 184 pound-feet of torque, paired with an eight-speed automatic. Front-wheel drive is standard, and all-wheel drive is available.
• Safety package: Toyota Safety Sense 2.0 includes forward-collision warning with pedestrian detection, adaptive cruise control, lane-departure warning with steering assist, automatic high beams, road-sign recognition, and Lane Tracing Assist. Higher trims add blind-spot monitoring, rear cross-traffic alert, reverse automatic emergency braking, and park assist.
• Infotainment: Most trims get a 7-inch touchscreen, while Limited gets an 8-inch screen. Apple CarPlay, Android Auto, Amazon Alexa compatibility, and SiriusXM are standard, and up to five USB ports are available.
• Fuel efficiency: Most gasoline models are rated at 30 mpg combined with FWD and 29 mpg combined with AWD. The LE AWD is rated at 30 mpg combined, and the TRD Off-Road is rated at 28 mpg combined.

Which 2021 Toyota RAV4 trim should I buy?

The 2021 Toyota RAV4 is offered in 6 trim levels: LE, XLE, XLE Premium, Limited, Adventure, and TRD Off-Road.

Here's the short version:

• LE: This is the entry point, so it makes sense if you want the lowest-cost path into the RAV4 and are comfortable with the most basic equipment. It still gets the core safety and tech features, but it is the trim most likely to feel stripped down compared with the others.
• XLE: This is the best-value trim for many shoppers because it adds a more balanced mix of everyday convenience without pushing you into the highest price brackets. If you want a sensible middle ground, this is the one to start with.
• XLE Premium: Choose this if you want a more upscale feel than the XLE and are willing to pay for it. It sits in the sweet spot for shoppers who care about comfort and appearance more than off-road character.
• Limited: This is the most comfort-focused mainstream trim, with the larger 8-inch touchscreen and the most upscale presentation in the gasoline lineup. It suits you best if you want the most polished RAV4 experience.
• Adventure: Pick this if you want the more rugged styling and the added off-road-oriented hardware described in the review. It also brings the torque-vectoring rear axle and 3,500-pound towing capacity.
• TRD Off-Road: This is the most specialized choice, with model-specific suspension tuning, all-terrain tires, and the front skid plate. It is the trim to consider if you want the most trail-ready gasoline RAV4, though the review notes its off-road limits.

Higher trims add blind-spot monitoring, rear cross-traffic alert, reverse automatic emergency braking, and park assist.

Is now a good time to buy a used 2021 Toyota RAV4?

This is a moderate market, so you can shop selectively without expecting a deep bargain on every listing.

• Deal availability: 35.4% of listings are priced as good or great deals.
• Inventory: There are 3,996 listings available.
• Price trend: Prices have softened 1.38% compared with last year.
• Clean inventory: 75.3% of listings are accident-free.

If you find a listing below $23,435, that's toward the low end of the year-round range and worth acting on quickly.

What is the 2021 Toyota RAV4's resale value?

The current average of $25,097 sits slightly below last year's $25,449.

That modest decline suggests the market has cooled a bit, which can help you as a buyer today but may temper what a future seller can ask. The current pricing range still shows healthy demand, though, especially for clean examples with strong equipment and condition.

If you keep the vehicle in good shape and maintain it well, you should be able to preserve more of its value than a neglected example. Vehicles with solid owner satisfaction ratings, like this model year's 4.43/5, tend to retain buyer demand, which supports resale value over time.

Is the 2021 Toyota RAV4 safe?

The 2021 Toyota RAV4 earns a Top Safety Pick rating from IIHS and a five-star overall rating from NHTSA, with four-star ratings in frontal crash and rollover, and five-star ratings in side crash and all other NHTSA tests.

It earns an 8/10 safety score from our experts.

Toyota Safety Sense 2.0 is standard and includes forward-collision warning with pedestrian detection, adaptive cruise control, lane-departure warning with steering assist, automatic high beams, road-sign recognition, and Lane Tracing Assist. Higher trims add blind-spot monitoring, rear cross-traffic alert, reverse automatic emergency braking, and park assist.

The main caveat is that the RAV4 missed the highest IIHS rating because some headlights scored poorly on certain trim levels.

Should I buy a 2021 Toyota RAV4 or consider a different year?

If you're weighing the 2021 against nearby model years, here's how to think about it:

Choose the 2021 if:

• 35.4% of listings are priced as good or great deals.
• Accident-free inventory is solid at 75.3% — always verify the vehicle history report.
• Price trend: Prices have softened 1.38% compared with last year.
• Owners rate it 4.43/5 — a solid satisfaction signal.
• The 2021 adds the RAV4 Prime to the lineup and keeps the current-generation RAV4’s broad trim and powertrain variety.

Consider the 2020 if:

• At $23,706, the 2020 costs less than the current year's $25,097 average.
• It offers practical, safe transportation with a broad range of configurations.

Consider the 2022 if:

• At $27,801, the 2022 costs more than the current year's $25,097 average.
• It brings a more mature feel with a roomy, flexible interior and efficient powertrains.

The bottom line: If you want the best balance of price, inventory, and broad appeal, the 2021 is the smart default. If your priority is saving money, the 2020 is the better value play; if you want to spend more for a newer-feeling alternative, the 2022 is the next step up.

These recommendations are based on CarGurus' proprietary market data from September 15, 2026, CarGurus experts' opinions, and generative AI.