I had an 04 Highlander that I drove to work for a while up to 180k miles. SisIL has a 22 rav4. Both my mother and MIL have/had that era highlanders, so I can speak from direct experience. The new rav4 are very comparable in size to your current ride but the newer rav4 feels more sporty and is more comfortable and quieter than the old highlander. The newer version of the Highlander is nothing like your version and is significantly larger and also more comfortable than the 22 rav. For what it’s worth, the 15&17 highlanders have a combined 300k with no major mechanical work required, but the 17 did require Both a ps pump and ac compressor under 125k miles. Nothing on the 22 rav4 in 70k. You just have to decide if mpg is greater than comfort to you.
Hope that helps. Let me know if you have specific questions as I have a decent amount of seat time in all 3 you referenced.
