According to Toyota South Africa, the RAV4 was never sold with runflat tyres, though this doesn’t mean that the previous owner of the car didn’t fit them.
That being said, there is no reason to replace all four tyres when only one was punctured as the spider gears in differentials will compensate for the very small differences in rolling diameter without being damaged.
That said, it’s best to put the new tyre on the back as two front tyres with different amounts of wear may cause the car to pull to one side.