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 2.65% compared to this time last year, making it a favorable time to shop this model year.

There are 3,900 listings available, which gives you a decent amount of inventory to compare before you buy.

If you find a listing below $23,442.34, 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 expert testing. The model scores 8/10 across Look and feel, Form and function, and Safety.

Owners consistently praise its reliability, comfort, and fuel efficiency, and they also like the spacious interior and strong safety features. The review summary also points to good handling and solid value for money.

The trade-offs are familiar: the driving experience is fairly pedestrian, and the touchscreen response is sluggish. That lines up with the RAV4’s role as a practical compact crossover rather than a sporty one.

If you want a versatile SUV with broad trim choice, everyday comfort, and strong safety credentials, the RAV4 fits that brief well. It also shows 32.6% good or great deals in the market, which suggests there are still worthwhile listings to find.

Is the 2021 Toyota RAV4 reliable?

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

The owner feedback highlights reliability, and it also points to a trouble-free, dependable ownership experience backed by comfort and efficiency. Expert testing reinforces that impression by describing Toyota’s 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 roadside assistance for new-car buyers, which is a useful ownership perk to keep in mind when comparing used examples. For used buyers, the main long-term risk is less about the platform itself and more about finding a well-kept example with consistent maintenance history.

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

Accident-free inventory is solid at 75.4% — always verify the vehicle history report.

You should still check the history report carefully, because accident-free listings are common but not universal. Prioritize a pre-purchase inspection, especially if you’re considering a higher-mileage example or one with visible wear. Focus on condition, maintenance records, and whether the features you want are actually present on the trim you’re looking at.

Key things to evaluate:

• Trim level: Lower trims get a 7-inch touchscreen and the cabin’s rugged styling, but higher trims add more upscale equipment and features. Material quality is fairly good on lower trims, but it does not rise much with price, so you should compare equipment carefully before paying more.
• 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, all-wheel drive is optional, and the engine is tuned for efficiency more than excitement.
• 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 models get an 8-inch screen. Apple CarPlay, Android Auto, Amazon Alexa compatibility, and SiriusXM are standard, and wireless smartphone integration is not mentioned.
• Fuel efficiency: Most gasoline models are rated at 30 mpg combined with front-wheel drive and 29 mpg combined with all-wheel drive. The RAV4 LE with 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 value-focused starting point, and it gives you the core RAV4 formula with standard safety tech, smartphone connectivity, and the efficient 2.5-liter engine. It makes sense if you want the lowest-cost path into the lineup and do not need extra comfort or appearance upgrades.
• XLE: This is the trim to target if you want a better balance of equipment and price. It builds on the LE with a more appealing everyday feature mix, making it the best-value choice for many used shoppers.
• XLE Premium: This trim is for you if you want a more upscale feel without jumping all the way to the top of the range. It adds a more polished presentation and is a good middle ground if you care about comfort and appearance.
• Limited: This is the most upscale mainstream choice, and it stands out for its 8-inch touchscreen and richer equipment list. Choose it if you want the most comfort and convenience features in the standard gasoline lineup.
• Adventure: This trim leans into the RAV4’s rugged styling and adds a more distinctive look. It suits you if you want the outdoorsy appearance and extra character without moving to the TRD Off-Road.
• TRD Off-Road: This is the most specialized gasoline trim, with model-specific suspension tuning, all-terrain tires, a front skid plate, and a more rugged setup. It is the right pick if you want the most distinctive version of the gasoline RAV4 and value its added capability and appearance.

Toyota Safety Sense 2.0 is standard, while 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 looks like a moderate, selective buyer’s market, so you can shop with some leverage if you compare listings carefully.

• Deal availability: 32.6% of listings are priced as good or great deals.
• Inventory: There are 3,900 listings available.
• Price trend: Prices have softened 2.65% compared with last year.
• Clean inventory: 75.4% of listings are accident-free.

If you find a listing below $23,442.34, 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 $24,966 sits slightly below last year's $25,647.

That price movement suggests the market has eased a bit, which can help you buy at a better entry point today. For future resale, a model that already shows broad shopper interest and steady demand is usually easier to move later. If you keep mileage reasonable and maintenance records clean, you should be in a better position when it’s time 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 and rollover crash tests and five-star ratings in side crash tests.

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

Toyota Safety Sense 2.0 is standard, and it 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 higher IIHS award because some trim-level headlights scored Marginal or Poor.

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:

• 32.6% of listings are priced as good or great deals.
• Accident-free inventory is solid at 75.4% — always verify the vehicle history report.
• Price trend: Prices have softened 2.65% compared with last year.
• Owners rate it 4.43/5 — a solid satisfaction signal.
• The 2021 adds the TRD Off-Road’s new front skid plate and keeps the lineup broad and versatile.

Consider the 2020 if:

• At $23,665, the 2020 costs less than the current year's $24,966 average.
• It offers broad versatility with useful, safe transportation and a wide range of configurations.

Consider the 2022 if:

• At $27,843, the 2022 costs more than the current year's $24,966 average.
• It adds a more mature, well-rounded feel with roomy practicality and strong safety.

The bottom line: If you want the best mix of current-year pricing, strong owner satisfaction, and broad inventory, the 2021 is the smart default. If your budget is tighter, the 2020 can save you money while keeping the same core appeal. If you want to spend more for a newer model-year step, the 2022 is worth a look, but the 2021 remains the sweet spot for many used buyers.

These recommendations are based on CarGurus' proprietary market data from September 4, 2026, CarGurus experts' opinions, and generative AI.