One problem related to brakes failed has been reported for the 2006 Toyota RAV4. The most recently reported issues are listed below. Please also check out the statistics and reliability analysis of the 2006 Toyota RAV4 based on all problems reported for the 2006 RAV4.
Hissing noise when brake is pressed and took the car a much longer distance to stop and had to press the brakes very hard. Had to use the emergency brake to get back to home. Online it seems to suggest that this is a brake booster failure.