Personal stories and experience might be limited- because Toyota's production of the Rav4 Prime has been kinda limited.
With that said- you might want to take a look at the Car Care Nut's video on the Rav4 Prime. He generally is pretty complimentary of the car- other than pointing out that you are ultimately paying a pretty high price for a compact SUV... a luxury car price tag with the fit and finish and materials of a compact SUV.
He is generally pretty impressed with the build quality of the powertrain and seems to be optimistic regarding the long-term reliability. He does mention that some systems are extremely complicated compared to a normal vehicle... or even some hybrids. That's something to consider if you plan on owning one long-term (to the point where repairs might be needed). Not all mechanics will know how to work on these- and sometimes even Toyota dealers might only have one or two techs that have experience with them.
I think a 2022 with 17,000 miles for $39k is a good deal though- assuming that there's nothing wrong with it and it has a clean history.
As long as your driving style allows you to take advantage of the Rav4 Prime's powertrain benefits- it might be a good buy.