The 2002 Toyota RAV4 is available as a 4-door, 5-seat sport utility. Starting at $16,525, the 2002 Toyota RAV4 (M5) FWD is powered by a 2.0L , 4 -cylinder engine mated to a manual transmission that returns an EPA estimated 25-mpg in the city and 31-mpg on the highway. The top of the line 2002ToyotaRAV4(A4) AWD , priced at $ 18,975 , is powered by a 2.0L , 4 - cylinder engine mated to an automatic transmission that returns an EPA estimated 23-mpg in the city and 27-mpg on the highway.