From what I can see, a Rav4 has a tow capacity of about 3500 lbs, a relatively light duty tow vehicle. By the time you get your gear loaded (full propane tank, battery, food, water, camping chairs, etc.) into your 154BH and Rav4, you'll most likely be approaching that tow limit. But I suspect your biggest towing challenge will not be from weight, but by the height of your trailer. The side profile of your trailer will catch some crosswinds when conditions are such. You'll appreciate the weight distributing hitch and sway control when you encounter those crosswinds or when a semi-truck passes you on the interstate. A brake controller is a must.
on edit: Another thought came to me. Be aware of how you load your camper also. If you put most of your gear behind your axle, you'll be setting yourself up for bad swaying problems. Loading gear ahead of the axle on a trailer of your size will help prevent trailer sway.
FAA A&P mechanic, ex-RV dealer parts dept
Retired B-52 Gunner/Flight Examiner, B-52 Crew Chief
2016 Jayco Eagle HT 29.5 FBDS w/ 15,000 BTU AC, 50 amp service, upgraded counter top, thermal pane windows, elec. stab jacks, outside grill, backup camera and MORryde pin box.
2011 GMC 2500HD DURAMAX/ ALLISON