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The 2001 Toyota RAV4 can use either 5W-30 or 10W-30 motor oil. The manual recommends using 5W-30 due to its advantages in fuel efficiency and easier starting in cold weather. However, if you don't experience cold temperatures, 10W-30 should be sufficient. The car has a 4.4-quart oil capacity with the filter. It's advised to change the oil every 5,000 miles or every 6 months. If your RAV4 has high mileage, around 75,000 to 80,000 miles, consider using a high mileage oil to help clean out any engine sludge that may have accumulated.
The 2001 Toyota RAV4 should have 5W-30 oil, but if you can't find that, you can use 10W-30 oil instead. The oil capacity for a 2001 Toyota RAV4 is 4.2 liters (equivalent to 4.4 US quarts).