Used 2021 Toyota RAV4 for Sale nearMilwaukee, WI

Compare 2021 Toyota RAV4 Trims in Milwaukee, WI

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

• Starting at $21,999
• 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: $21,999 (updated weekly)
• MPG/MPGe: 28 city / 35 hwy
• Inventory: 94 listings
• 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 comfort features without a hefty price tag.

• Avg. market price: $24,993 (updated weekly)
• MPG/MPGe: 28 city / 35 hwy
• Inventory: 99 listings
• View XLE FWD listings

LE AWD — "Who It's For"

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

• Avg. market price: $23,871 (updated weekly)
• MPG/MPGe: 27 city / 34 hwy
• Inventory: 220 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 for enhanced performance.

• Avg. market price: $25,995 (updated weekly)
• MPG/MPGe: 25 city / 33 hwy
• Inventory: 230 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 premium price.

• Avg. market price: $24,993 (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 premium features and all-wheel drive for added versatility.

• Avg. market price: $28,670 (updated weekly)
• MPG/MPGe: 25 city / 33 hwy
• Inventory: 54 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 with advanced tech features for outdoor adventures.

• Avg. market price: $24,993 (updated weekly)
• MPG/MPGe: 25 city / 33 hwy
• Inventory: 40 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 luxury features for a premium experience.

• Avg. market price: $24,993 (updated weekly)
• MPG/MPGe: 25 city / 33 hwy
• Inventory: 74 listings
• View Limited AWD listings

Trim Recommendations

Most Popular — XLE AWD

With 230 active listings, the XLE AWD is the clear volume leader in the lineup.

Browse XLE AWD listings

Best Budget Option — LE FWD

At $21,999 avg market price — below the lineup median of $24,993 — 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/MPGe.

Browse LE FWD listings

These recommendations are based on CarGurus' proprietary market data from October 22, 2026, CarGurus experts' opinions, and generative AI.

How much does the 2021 Toyota RAV4 cost?

Prices have held steady compared to this time last year, signaling a stable and predictable market for this model year.

There are 4,188 listings available, which suggests you have a healthy amount of inventory to compare.

Is the 2021 Toyota RAV4 a good car?

Generally — the 2021 Toyota RAV4 earns a 4.4/5 user rating and a 7.3/10 expert rating. The model scores 8/10 across Look and feel, Form and function, and Safety.

Owners consistently praise its reliability, comfort, fuel efficiency, spacious interior, safety features, good handling, and value for money. In use, that lines up with a practical family SUV that feels easy to live with and efficient for everyday driving.

The trade-offs are a fairly pedestrian driving character and sluggish touchscreen response. For shoppers who want a mainstream compact crossover with broad appeal rather than a sporty personality, that balance makes sense.

The market also looks reasonably accommodating, with 36.5% of listings marked as good or great deals.

Is the 2021 Toyota RAV4 reliable?

Owners rate it 4.4/5, a solid signal of long-term satisfaction.

Drivers describe it as reliable, dependable, and trouble-free, and they also praise its comfort, fuel efficiency, and value for money. The expert review also points to Toyota’s legendary reputation for reliability and notes that the RAV4 is a solid performer in the categories that matter most to used buyers.

ToyotaCare adds two years or 25,000 miles of free factory-scheduled maintenance and two years of roadside assistance, which helps early ownership costs. For a used buyer, the main long-term risk is making sure the specific vehicle was maintained well and hasn’t been worn down by heavy use.

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

Accident-free inventory is solid at 75.5% — always verify the vehicle history report.

You should still check the history report carefully, because accident-free status is only one part of the picture. A pre-purchase inspection is worth prioritizing, especially if you’re looking at 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 considering.

Key things to evaluate:

• Trim level: Lower trims get a 7-inch touchscreen, while Limited models get an 8-inch screen; the gasoline model does not get the head-up display available on the Prime.
• Powertrain: The gasoline model uses a 2.5-liter four-cylinder with 203 horsepower, an eight-speed automatic, and standard FWD or optional AWD.
• 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, SiriusXM, and up to five USB ports.
• Fuel efficiency: Most gasoline models are rated at 30 mpg combined, with 28 mpg city and 35 mpg highway for FWD, and 29 mpg combined, with 27 mpg city and 33 mpg highway for AWD.

Which 2021 Toyota RAV4 trim should I buy?

The 2021 Toyota RAV4 is offered in 8 trim levels: LE, XLE, XLE Premium, Limited, Adventure, TRD Off-Road, Hybrid XSE, and Prime SE.

Here's the short version:

• LE: This is the entry point if you want the RAV4’s core strengths at the lowest price, but you’ll be giving up some of the nicer convenience and appearance upgrades found higher up the range.
• XLE: This is the best-value choice for many shoppers because it adds a more complete everyday experience without pushing you into the pricier upper trims.
• XLE Premium: This is the right step up if you want a more upscale feel and are willing to pay for it.
• Limited: Choose this if you want the most comfort and convenience features in the gasoline lineup.
• Adventure: This is the pick if you want the more rugged styling and outdoorsy touches.
• TRD Off-Road: This is the most distinctive gasoline trim, with model-specific suspension tuning, all-terrain tires, and a skid plate; it suits you best if you want the most rugged version.
• Hybrid XSE: This trim is part of the hybrid lineup and is not the focus if you’re shopping the gasoline model.
• Prime SE: This is part of the plug-in hybrid lineup and sits outside the standard gasoline range.

Higher trims also gain 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 have room to shop carefully without expecting deep discounts everywhere.

• Deal availability: 36.5% of listings are priced as good or great deals.
• Inventory: There are 4,188 listings available.
• Price trend: Prices have held steady compared with last year.
• Clean inventory: 75.5% of listings are accident-free.

If you find a listing below $23,428, 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 $24,593 sits slightly below last year's $24,813.

That small decline suggests the RAV4 has held value fairly well rather than dropping sharply. For a future seller, that kind of stability is helpful because it points to steady buyer interest and a market that isn’t swinging wildly.

The current price range also gives you a useful benchmark if you plan to sell later. If your vehicle is clean, well maintained, and equipped with desirable features, you’ll be better positioned to compete with other listings.

Vehicles with solid owner satisfaction ratings, like this model year's 4.4/5, 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 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 on certain trims scored lower.

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:

• 36.5% of listings are priced as good or great deals.
• Accident-free inventory is solid at 75.5% — always verify the vehicle history report.
• Price trend: Prices have held steady compared with last year.
• Owners rate it 4.4/5 — a solid satisfaction signal.
• The 2021 adds the RAV4 Prime to the lineup and expands trim choices.

Consider the 2020 if:

• At $23,220, the 2020 costs less than the current year's $24,593 average.
• It offers a broad range of configurations with useful tech and standard advanced safety features.

Consider the 2022 if:

• At $27,092, the 2022 costs more than the current year's $24,593 average.
• It brings a more polished look, a roomy interior, and efficient powertrains.

The bottom line: The 2021 is the best all-around pick if you want the current-generation RAV4’s broad trim range and stable pricing. If you’re focused on saving money, the 2020 is the better value play, while the 2022 makes sense if you want to spend more for a slightly more mature feel.

How does the 2021 Toyota RAV4 compare to the 2021 Honda CR-V?

Expert Pros & Cons (per CarGurus review team)

2021 Toyota RAV4:

• Pros: Quiet cabin, Plenty of cargo space, Great safety ratings.
• Cons: Fairly pedestrian performance, Sluggish touchscreen response.

2021 Honda CR-V:

• Pros: Plenty of cargo space, Standard advanced safety features, Excellent value for money.
• Cons: Uninspired styling, Fairly pedestrian performance.

Our experts score the 2021 Toyota RAV4 7.3/10 and the 2021 Honda CR-V 7.8/10. The RAV4 leans harder into safety and a quieter cabin, while the CR-V edges it on overall expert score and value. Both offer plenty of cargo space and neither is especially exciting to drive, so your choice comes down to whether you prefer the RAV4’s stronger safety reputation or the CR-V’s better value proposition.

Read our full side-by-side expert comparison here.

These recommendations are based on CarGurus' proprietary market data from October 27, 2026, CarGurus experts' opinions, and generative AI.