Nothing special - the transmission & transfer case fluid for the 2010 RAV4 Sport is already synthetic; standard engine oil came with the vehicle & I changed to synthetic with the second oil change.
I tend to be conservative on maintenance. I did get a surprise yesterday - took the trailer in for tire change, bearing lube & brake check (I've had the bearings repacked & brakes adjusted every Spring except 2014 - I was on the road). 3rd set of tires at 56,000 miles, and complete rebuild of the brakes, including drums, magnets, shoes, etc. Expensive, but I guess at 56K, it is to be expected...