The RAV4 a 5 seat car, if you define 2 row cars as full SUVs the definition loses all meaning. Full SUVs carry 7+ people.
Wikipedia says "there is no commonly agreed-upon definition of an SUV and usage of the term varies between countries.", so that might explain the discrepancy https://en.wikipedia.org/wiki/SUV
Soccer moms and dads driving to the grocery and back with their three spawn though have more market share. So they sell you a unibody oversized car that would be absolutely destroyed if used as the OG truck frame vehicles, and the soccer dad can pretend his oversized car is some off-road hauling machine.
I don't even think of my EV6 as an SUV, even though it's categorized as such.
SUV is a marketing term not any kind of real size or capacity term.