For comparison I just had (at independent garage) my Gen 1 Tundra SR5 TRD steering gear replaced with a remanufactured OEM rack including the tie rod ends, bushings and new stabilizer bar bushings done too, mine also needed a dealer-only part a new lower steering shaft that costs $129 at the dealer which is completely separate from the rack assembly (due to corrosion here in the frozen north) I requested my mechanic also replace the alternator belt just because it seemed a good time to, and he sent it out for a four wheel alignment too, flushed and filled steering fluid and the total for the whole job was $1,100.
I have no doubt a new RAV4 rack is $1,200 for the part.