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What year and engine do you have?
The code is for a malfunction in the VVTi actuator. Variable Valve Timing Intelligent.
There is a technical service bulletin to address this issue on the 01 and 02 Rav4. The VVTi actuator will need replaced. The TSB is EG007-03
Thorough testing of the controller and the oil control valve should be done first to confirm this.
The labor time under the TSB for warranty was 4.0 hours and the gear/actuator lists for $195. Most shops are about $95 an hour labor depending on your location.