The key to making MS work on the RAV4 was figuring out the ignition system and idle control. My '96 model has a distributor with a cam angle sensor built in and a crank angle VR sensor that monitors a 36-2 trigger wheel mounted on the crankshaft. In the end, I ignored the cam sensor and just used the signal from the crank sensor. Once I figured out the right settings, the car fired on the first try.
To make the idle work, I had to build an add-on splitter circuit and set up the software for PWM Closed Loop operation. It idles fine throughout warmup and in stop-n-go traffic.
You can read a "how to" article on the project, including some screenshots, here: "How To" article