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2007 Toyota RAV4 owners have reported hearing "humming" or "whining" sounds while accelerating or using cruise control at speeds of 30-40 miles per hour. The noises are most noticeable when driving downhill and are commonly associated with the V6 engine. The sounds often disappear temporarily when the gas pedal is released. Some dealers suggest replacing the 4 X4 ECM as a solution, but drivers still hear faint humming even after the repairs. Toyota has acknowledged the issue in 2006-2008 V6 RAV4 models, but insists that the noises are normal vehicle sounds. Some drivers have successfully addressed the problem by realigning or replacing the drive-shaft.
This could be a range of problems. Make sure to look for any indicator lights, and if you don't see any, you should bring it to a garage for inspection.