Doubt you can do anything significant to quiet a gas Rav4 since most of the noise is from the engine and exhaust system. Had a '20 Rav4 xse hybrid and its 2.5l 176 h.p. engine was a helluva lot quieter than the 2.5l 203 hp engine in the '24 Rav4 limited gas. Basically the same engine but all that extra hp comes at the expense of noisier valve, induction, injection, exhaust systems and dwell time in Atkinson vs. Otto compression cycle.

The same low hp 2.5l 186 hp engine in the '24 Highlander hybrid is as quiet as the one in the '20 Rav which seems to prove that the greater hp gas version of the 2.5l is the primary source of the noise problem.....and probably a major contributor to increased gas consumption. Best gas mileage I can get from the gas Rav4 is 29 mpg compared to the much heavier hybrid Highlander's 35 mpg under the same operating conditions.

 

Try looking for tires that are described by owners as being quiet. On my last car I switched to a new brand (Michelins) and was amazed at how much the road noise decreased.