If you need 7 seats, that's only available on the RAV4
Pricewise, I believe you get more in the Venza than a similarly equipped RAV4;
i.e.
FWD V6 Venza = MSRP $29,970
FWD V6 Venza w/ Premium package = MSRP $31,990
FWD v6 RAV4 Limited = msrp $32,160
Venza FWD V6 Premium includes:
Panoramic roof (vs moonroof on the RAV4)
Power liftgate (vs manual swing-open door)
Backup camera (albeit on a tiny screen)
But RAV4 Limited has push button start, and has more interior cargo volume & better mileage per specs
If your family is considering the 4 cylinder, I think it's even more clear the AWD Venza is a better deal:
AWD Venza I4 MSRP: $29,720
w/ Premium package (i.e. leather) $33,160
AWD RAV4 Limited MSRP: $31,705
w/ leather package MSRP: $33,470
For us, we weren't too crazy about the RAV4's looks nor the swing-open door (otherwise we would've opted for the Suzuki Grand Vitara for thousands less; although the suzuki has pretty bad fuel economy); and there are too many trim levels for the RAV4...gets confusing comparing features