Used 2024 Toyota RAV4 for Sale nearMilwaukee, WI

Compare 2024 Toyota RAV4 Trims in Milwaukee, WI

The 2024 RAV4 lineup offers a range of trims from budget-friendly options to feature-rich models, all with impressive fuel efficiency.

• Starting at $26,495
• Best MPG/MPGe: 27 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: $28,515 (updated weekly)
• MPG/MPGe: 27 city / 35 hwy
• Inventory: 74 listings
• View LE FWD listings

LE AWD — "Who It's For"

The LE AWD is the pick for shoppers who want all-wheel drive without a hefty price tag, making it a practical choice.

• Avg. market price: $30,153 (updated weekly)
• MPG/MPGe: 27 city / 34 hwy
• Inventory: 155 listings — widest selection in the lineup
• View LE AWD listings

XLE FWD — "Who It's For"

The XLE FWD is the pick for shoppers who want a well-rounded vehicle with added features without going over budget.

• Avg. market price: $26,495 (updated weekly)
• MPG/MPGe: 27 city / 35 hwy
• Inventory: 100 listings
• View XLE FWD listings

XLE AWD — "Who It's For"

The XLE AWD is the pick for shoppers who want a sporty feel with all-wheel drive, making it the most popular choice.

• Avg. market price: $32,868 (updated weekly)
• MPG/MPGe: 27 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 touch of luxury without the AWD price premium.

• Avg. market price: $32,184 (updated weekly)
• MPG/MPGe: 27 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 combined with all-wheel drive for added capability.

• Avg. market price: $37,495 (updated weekly)
• MPG/MPGe: 27 city / 33 hwy
• Inventory: 44 listings
• View XLE Premium AWD listings

Adventure AWD — "Who It's For"

The Adventure AWD is the pick for shoppers who want a rugged vehicle with all-wheel drive at a competitive price.

• Avg. market price: $31,106 (updated weekly)
• MPG/MPGe: 27 city / 33 hwy
• Inventory: 24 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 and all-wheel drive.

• Avg. market price: $38,990 (updated weekly)
• MPG/MPGe: 27 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 — XLE FWD

At $26,495 avg market price — below the lineup median of $31,645 — it's the most accessible entry point.

Browse XLE FWD listings

Best for Fuel Economy — LE FWD

The LE FWD offers the best fuel efficiency in the lineup with 27/35 MPG.

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 2024 Toyota RAV4 cost?

Prices are up 1.36% year-over-year — a sign of continued demand for this model year.

There are 9,701 listings available, which gives you a solid pool to compare before you buy.

If you find a listing below $27,581.26, that's toward the low end of the year-round range and worth acting on quickly.

Is the 2024 Toyota RAV4 a good car?

Yes — the 4.86/5 user rating points to strong owner satisfaction, and the expert rating is 7.00/10. The standout strength is Form and function at 9/10.

Owners consistently praise the RAV4’s comfort, features, spacious interior, and advanced tech like the large touchscreen. The feedback also points to a practical, easy-to-live-with cabin and broad everyday usefulness.

On the trade-off side, the expert notes call out a noisy driving experience and a duller feel behind the wheel. The overview also frames it as a compact SUV that fits shoppers who want a familiar, practical package rather than something flashy.

With 34.3% of listings marked as good or great deals, you have some room to shop selectively.

Is the 2024 Toyota RAV4 reliable?

Owners rate it 4.86/5, a strong signal of long-term satisfaction. The owner summary also emphasizes reliability-adjacent strengths like comfort, features, spaciousness, and a practical ownership experience that many buyers can count on.

The expert notes reinforce that theme by describing the RAV4’s engine reputation as bulletproof dependable. Toyota also includes free scheduled maintenance for two years or 25,000 miles, which adds a useful ownership perk.

For used buyers, the main long-term risk is age-related wear and the possibility that a neglected example won’t deliver the same trouble-free experience as a well-kept one.

What should I look for when buying a used 2024 Toyota RAV4?

Accident-free inventory is excellent at 90.3% — clean inventory, standard diligence applies.

You should still run a vehicle history report and prioritize a pre-purchase inspection, especially if the listing price looks unusually attractive. Focus on condition, maintenance records, and signs of hard use, since the best examples will show clear evidence of careful ownership.

Key things to evaluate:

• Trim level: The base LE misses blind-spot monitoring with rear cross-traffic alert, while higher trims add a more upscale cabin and more visual polish. If you want a more upscale look and feel, the XLE Premium or Limited are the trims to watch.
• Powertrain: The gas model uses a 2.5-liter four-cylinder with 203 horsepower and 184 pound-feet of torque, paired with an eight-speed automatic. It’s adequate, but you need to rev it hard to get maximum response.
• Safety package: Toyota Safety Sense 2.5 is standard and includes adaptive cruise control and lane-centering assist, but the base LE does not get blind-spot monitoring with rear cross-traffic alert.
• Infotainment: The Toyota Audio Multimedia system includes a standard 8-inch touchscreen, an available 10.5-inch screen, wireless Apple CarPlay and Android Auto, and connected services with OTA-style convenience through Toyota’s app-based ecosystem.
• Fuel efficiency: The TRD Off-Road is rated at 28 mpg in combined driving, and the test vehicle averaged 26.6 mpg on the evaluation route.

Which 2024 Toyota RAV4 trim should I buy?

The 2024 Toyota RAV4 is offered in 4 trim levels: LE, XLE Premium, Limited, TRD Off-Road.

Here's the short version:

• LE: This is the entry point, but it’s also the trim where you give up blind-spot monitoring with rear cross-traffic alert. Buy it only if your priority is keeping the purchase as simple and affordable as possible.
• XLE Premium: This is the best-value trim if you want a more upscale cabin without jumping to the top of the range. It’s the trim to target if you want the RAV4’s practicality with a nicer look and feel.
• Limited: Choose this if you want the most upscale standard-feeling version of the gas RAV4 and are willing to pay more for it.
• TRD Off-Road: This is the rugged-themed choice, with AWD, off-road suspension tuning, an underbody skid plate, all-terrain tires, and Multi-Terrain Select. It’s the one to buy if you want the most distinctive character, but it is also the least cost-effective gas-only version.

The safety-package gap on the LE is the key trim-level note to keep in mind.

Is now a good time to buy a used 2024 Toyota RAV4?

This looks like a moderate, selective buyer’s market, so you can shop carefully without expecting every listing to be a bargain.

• Deal availability: 34.3% of listings are priced as good or great deals.
• Inventory: There are 9,701 listings available.
• Price trend: Prices are up 1.36% year-over-year.
• Clean inventory: 90.3% of listings are accident-free.

If you find a listing below $27,581.26, that's toward the low end of the year-round range and worth acting on quickly.

What is the 2024 Toyota RAV4's resale value?

The current average of $31,134 sits slightly above last year's $30,715.

That kind of upward movement suggests the RAV4 continues to hold buyer interest well in the used market. For a future seller, that matters because steady demand can help support pricing when it’s time to trade in or list privately.

The model’s broad appeal, practical reputation, and strong owner satisfaction all work in its favor. Vehicles with strong owner satisfaction ratings, like this model year's 4.86/5, tend to retain buyer demand, which supports resale value over time.

Is the 2024 Toyota RAV4 safe?

The 2024 RAV4 does not qualify for the latest Top Safety Pick award from IIHS, and it has a Marginal rating in the latest small overlap frontal-impact crash test plus an Acceptable rating in the latest side-impact test.

It earns a 5/10 safety score from our experts.

Toyota Safety Sense 2.5 is the standard driver-assistance suite, and it includes adaptive cruise control and lane-centering assist. In practice, the system works best on straighter highways, while the lane-centering feature can be a little lazy and the braking can be overly cautious in some traffic situations.

The main caveat is that the base LE trim does not include blind-spot monitoring with rear cross-traffic alert, which is a notable omission for a vehicle in this class.

Should I buy a 2024 Toyota RAV4 or consider a different year?

If you're weighing the 2024 against nearby model years, here's how to think about it:

Choose the 2024 if:

• 34.3% of listings are priced as good or great deals.
• Accident-free inventory is excellent at 90.3% — clean inventory, standard diligence applies.
• Price trend: Prices are up 1.36% year-over-year.
• Owners rate it 4.86/5 — a strong satisfaction signal.
• The 2024 keeps the familiar formula while adding broad trim and drivetrain variety.

Consider the 2023 if:

• At $30,282, the 2023 costs less than the current year's $31,134 average.
• It’s a dependable, family-friendly compact crossover with a modernized infotainment system.

The bottom line: If you want the current-year RAV4 with strong owner satisfaction and a healthy used-car market, the 2024 is the safer default. If your priority is saving money and you’re comfortable giving up a bit of current-year pricing, the 2023 is the better value play.

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