One problem related to steering rack and pinion has been reported for the 2009 Toyota RAV4. The most recently reported issues are listed below. Please also check out the statistics and reliability analysis of the 2009 Toyota RAV4 based on all problems reported for the 2009 RAV4.
There is a noticeable thumping, like a belt slipping or a gear missing, when making sharp turns. The frequency of the issue becomes more prevalent the longer you drive. On 12/22/14, york auto group, my local Toyota service department, determined there is a failure in the rack and pinion. It is my understanding from my research that some people have managed to get this repair covered by Toyota since it is a potential safety issue and becoming more frequent in this model. I did contact Toyota and opened case # 1412310345. Toyota was less responsive in my case. If this is becoming a known issue, I would like them to cover the repair and possibly alert other Rav4 owners.