It depends. Are both cars that are racing stock, have one driver and the tires are pressurized to their best? You answered your own question, but you would have to try it. I would suggest a dry acceleration race starting off an even paved stoplight road. Spec wise, both cars have been tested right around 7 seconds, so it will probably be close to even.
What kind of race ? in a speed race, they may be equal.......in a "class" race, the Audi has CLASS , and , well, the RAV4 is a Mommymobile....in a race for the BABES, Audi wins hands down, while the Toyota will hardly get a second look.......get the point ? it's all how you look at things.......and which race you really want to win......