Welcome to TN and Congratulations on the new Vehicle
Check the air pressure in the tire. The left front tire might be low. If they are equal and the alignment is good you might have whats called a radial pull. Try this: Rotate the left front tire to the left rear and the left rear to the left front. Drive it and see if it fixes the problem. If not then rotate the right side tires like you did with the left. If that fixes it then you know that the right front tire was causing the pull. If this doesn't isolate he problem then you might still have alignment issues but I don't think that there is caster adjustment on Rav-4's which is what usually causes the pull.
Worst comes to worst run an extra 5 psi in the left front tire. That's what I had to do with my camry and it helped alot.