The right side is longer. It also has a bracket it goes thru. I believe 1A Auto has a video on how to change it. It is a little harder to do than the left side. The video I have linked for you is the same procedure it’s the same on pretty much all Toyota of that time. Even though it says a different year it is the same I have done it many times. If you need more help please let me know. This link has a video on it. And AWD is the same.

Toyota Rav4 Scion tC Front Passenger Side CV Axle Assembly TRQ CSA82382

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Thanks for the quick reply. I had already seen that video before. It doesn't mention a bracket (but the person who added a comment on the part at the link) mentioned a "Carrier Bracket" as did you. What special procedures do I need to take in regard to the bracket? Does the shaft just bolt to the bracket, and therefore needs to be unbolted before it is removed (or is there something else as alluded to in the comment?