It depends on the amount of fancy electronics. The newer the car, the more power it draws even with everything appearing to be off. Plus there are certain features that will draw more power. For example, the automatic on/off headlight function (if you have it) will do that, and the Owners Manual warns against leaving the headlights in the "Auto" mode for more then two weeks without driving the car.
Electronically-controlled battery chargers are cheap and effective. Even the ones that sell for about $30 come with a couple of different cabling options, including a style that can be permanently attached to the terminal posts and has a quick-disconnect plug. If the RAV4 is a second car that doesn't drive a lot, you may want to check out something like that.