Used 2021 Toyota RAV4 for Sale nearMilwaukee, WI

Compare 2021 Toyota RAV4 Trims in Milwaukee, WI

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

• Starting at $25,999
• 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: $26,099 (updated weekly)
• MPG/MPGe: 28 city / 35 hwy
• Inventory: 70 listings
• View LE FWD listings

XLE FWD — "Who It's For"

The XLE FWD is the pick for shoppers who want more features without a significant price jump.

• Avg. market price: $26,099 (updated weekly)
• MPG/MPGe: 28 city / 35 hwy
• Inventory: 103 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: $25,999 (updated weekly)
• MPG/MPGe: 27 city / 34 hwy
• Inventory: 159 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 a well-rounded SUV with popular features and all-wheel drive.

• Avg. market price: $26,099 (updated weekly)
• MPG/MPGe: 25 city / 33 hwy
• Inventory: 171 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 more luxurious experience without going fully premium.

• Avg. market price: $26,099 (updated weekly)
• MPG/MPGe: 28 city / 35 hwy
• Inventory: 35 listings
• View XLE Premium FWD listings

XLE Premium AWD — "Who It's For"

The XLE Premium AWD is the pick for shoppers who want sporty performance with added luxury features.

• Avg. market price: $26,298 (updated weekly)
• MPG/MPGe: 25 city / 33 hwy
• Inventory: 43 listings
• View XLE Premium AWD listings

Adventure AWD — "Who It's For"

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

• Avg. market price: $26,099 (updated weekly)
• MPG/MPGe: 25 city / 33 hwy
• Inventory: 25 listings
• View Adventure AWD listings

Limited AWD — "Who It's For"

The Limited AWD is the pick for shoppers who want a fully loaded SUV with premium features.

• Avg. market price: $26,099 (updated weekly)
• MPG/MPGe: 25 city / 33 hwy
• Inventory: 62 listings
• View Limited AWD listings

Trim Recommendations

Most Popular — XLE AWD

With 171 active listings, the XLE AWD is the clear volume leader in the lineup.

Browse XLE AWD listings

Best Budget Option — LE AWD

At $25,999 avg market price — below the lineup median of $26,099 — it's the most accessible entry point.

Browse LE AWD listings

Best for Fuel Economy — LE FWD

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

Browse LE FWD listings

These recommendations are based on CarGurus' proprietary market data from September 2, 2026, CarGurus experts' opinions, and generative AI.

How much does the 2021 Toyota RAV4 cost?

Prices have softened 2.47% compared to this time last year, making it a favorable time to shop this model year.

There are 3,770 listings available, which suggests solid inventory for you to compare trims and conditions. If you find a listing below $23,445.81, that's toward the low end of the year-round range and worth acting on quickly.

Is the 2021 Toyota RAV4 a good car?

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

Drivers consistently praise its reliability, comfort, and fuel efficiency, and they also like the spacious interior, safety features, and value for money. In use, that lines up with the RAV4’s roomy cabin, quiet ride, and broad appeal as a practical compact crossover.

The trade-offs are familiar: the driving experience is fairly pedestrian, and the touchscreen response is sluggish. That means you should expect a vehicle that fits daily commuting and family duty better than enthusiastic driving.

With its broad trim mix and available gasoline, hybrid, and adventure-oriented versions, the RAV4 works well if you want versatility more than flash. 28.5% of listings are priced as good or great deals, so you have some room to shop selectively.

Is the 2021 Toyota RAV4 reliable?

Owners rate it 4.43/5, a solid signal of long-term satisfaction. User feedback also points to reliability, trouble-free ownership, and a vehicle you can count on, especially when paired with the RAV4’s reputation for dependable everyday use.

The expert review reinforces that impression by noting Toyota’s legendary reputation for reliability and describing the RAV4 as a solid performer in the categories that matter most. ToyotaCare also adds two years or 25,000 miles of free factory-scheduled maintenance, which can help reduce early ownership costs.

For used buyers, the main long-term risk is less about headline mechanical drama and more about finding a well-kept example with the right maintenance history and condition.

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

At 74.7% accident-free, a meaningful share of listings has prior incidents — history verification is especially important.

You should start with a vehicle history report and then prioritize a pre-purchase inspection, especially if the listing price looks unusually attractive. Focus on condition details that matter in daily use: cabin wear, touchscreen behavior, and whether the vehicle has the equipment you want.

Key things to evaluate:

• Trim level: The gasoline RAV4 spans LE, XLE, XLE Premium, Limited, Adventure, and TRD Off-Road, with the lower trims offering a simpler feature set and the higher trims adding more comfort and convenience. The TRD Off-Road stands out with matte black 18-inch wheels, standard LED fog lights, dark gray exterior trim, red interior accents, and a front skid plate.
• 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 transmission and either FWD or AWD. It is efficient for the class, but not especially engaging to drive.
• 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, with standard Apple CarPlay, Android Auto, Amazon Alexa compatibility, and SiriusXM satellite radio. The system is straightforward, but it is not especially flashy.
• Fuel efficiency: Most gasoline models are rated at 30 mpg combined with FWD and 29 mpg combined with AWD. 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 value-focused starting point if you want the RAV4’s core strengths without paying for extras. It gives you the basic formula of space, safety, and everyday usability, but you should expect a simpler feature set than the higher trims.
• XLE: This is the best-value trim for many shoppers because it adds useful comfort and convenience without pushing the price too far up the ladder. If you want a balanced mix of equipment and affordability, this is the trim to start with.
• XLE Premium: This is the right step up if you want a more polished feel and are willing to pay for it. It makes sense if you care about a nicer cabin and more upscale day-to-day use.
• Limited: This is the trim to consider if you want the most comfort and convenience features in the gasoline lineup. It suits you best if you plan to keep the vehicle for a while and want the most complete version of the standard RAV4 experience.
• Adventure: This is the pick if you want the more rugged look and feel, including the Ice Edge roof and orange interior accents. It is a good fit if style matters and you want the RAV4 to look a little more distinctive.
• TRD Off-Road: This is the most specialized choice, with model-specific suspension tuning, all-terrain tires, a skid plate, and extra off-road-oriented hardware. Choose it if you want the most distinctive gasoline RAV4 and can live with its trade-offs in everyday refinement.

Higher trims also bring added safety equipment, including 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 for selective buyers, so you can shop carefully without expecting a deep bargain on every listing.

• Deal availability: 28.5% of listings are priced as good or great deals.
• Inventory: There are 3,770 listings available.
• Price trend: Prices have softened 2.47% compared with last year.
• Clean inventory: 74.7% of listings are accident-free.

If you find a listing below $23,445.81, 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 $25,023 sits slightly below last year's $25,656.

That kind of softening can help you as a buyer now, but it also suggests future sellers may need to price competitively to move a used RAV4. The model’s broad appeal, strong owner satisfaction, and reputation for reliability should help support demand over time.

Because shoppers continue to value the RAV4’s practicality and safety, well-kept examples should remain relatively easy to sell. 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 all other NHTSA tests.

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

Toyota Safety Sense 2.0 comes 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 headlight performance: the RAV4 missed the highest IIHS rating because some trim-level headlights scored lower. That makes trim selection worth paying attention to if safety is a top priority.

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:

• 28.5% of listings are priced as good or great deals.
• At 74.7% accident-free, a meaningful share of listings has prior incidents — history verification is especially important.
• Price trend: Prices have softened 2.47% compared with last year.
• Owners rate it 4.43/5 — a solid satisfaction signal.
• It keeps the RAV4 formula focused on space, comfort, and broad trim choice.

Consider the 2020 if:

• At $23,664, the 2020 costs less than the current year's $25,023 average.
• It offers broad versatility with practical comfort and standard safety.

Consider the 2022 if:

• At $28,013, the 2022 costs more than the current year's $25,023 average.
• It adds a more mature, well-rounded feel with efficient powertrains and a roomy interior.

The bottom line: If you want the best balance of price, safety, and everyday usefulness, the 2021 is the primary year to target. If you are especially price-sensitive, the 2020 is the better value play, while the 2022 makes sense if you are willing to pay more for a newer example.

These recommendations are based on CarGurus' proprietary market data from August 28, 2026, CarGurus experts' opinions, and generative AI.