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The Toyota RAV4's seats vary in how flat they can fold based on the year and trim, but generally, they do not lay completely flat. There is a raised area near the front seats that could be bothersome if you're attempting to camp or sleep in the back. With around 69.8 cubic feet of storage space (depending on the specific year and trim), you'll have plenty of room if you aren't using the back for sleeping. However, if you need your cargo to be completely flat, you may find the RAV4's seats, especially in newer models, to be somewhat frustratingly not level.
The Toyota RAV4 does not have seats that fold completely flat.