The contest between the 2024 Subaru Crosstrek and the 2023 Toyota RAV4 is between champions, but it might not be a fair fight. Using boxing terms, in this bout, the Crosstrek is moving up a weight class. It's the champ of the subcompact SUV segment—an impressive accomplishment in a field with an abundance of excellent choices. The only problem is that it's entering the ring against the champion of the compact SUV class: the Toyota RAV4. If anything, the RAV4's competitors are even more numerous and challenging than the Crosstrek faces.
The 2024 Subaru Crosstrek and the 2023 Toyota RAV4 combine sport-utility attributes with passenger-car characteristics. This combination continues to resonate with the American car-buying public. Despite their size differences, the Crosstrek and RAV4 are 5-passenger models that offer their buyers pleasant day-to-day driving dynamics, more than adequate cargo space, and go-anywhere personas.
As with most Subarus, all-wheel drive (AWD) is the standard configuration for the Crosstrek. In contrast, the Toyota RAV4 offers buyers front-wheel drive (FWD) and AWD versions. The AWD systems in both models deliver good on-road traction and are up to the task of moderate off-road action. The AWD systems in the Crosstrek and RAV4 are less about extra-duty off-roading and more about security on the road in all weather conditions.
Both brands emphasize safety. Toyota was among the first to offer a collection of advanced driver assistance systems (ADAS) with its Toyota Safety Sense initiative. Like all Subarus, the Crosstrek features the brand's EyeSight driver-assist technology. Both brands frequently add systems to their rosters and upgrade the systems currently on the list.
The 2024 Subaru Crosstrek offers shoppers the choice of two 4-cylinder engines. The Toyota RAV4, meanwhile, gives shoppers the option of a conventional 4-cylinder gas engine, hybrid, and plug-in hybrid powertrains. Those seeking stellar fuel economy will find it in the RAV4 Hybrid and RAV4 Prime plug-in hybrid electric vehicles (PHEVs).
The 2024 Subaru Crosstrek competes with a wide swath of subcompact crossover models. Prominent among them are the Chevrolet Trailblazer, Ford Bronco Sport, Honda HR-V, Mazda CX-30, and Toyota Corolla Cross. The larger RAV4 competes against the Honda CR-V, Hyundai Tucson, Kia Sportage, and Nissan Rogue, among many others. The segment it leads in sales—compact SUV—is one of the most popular in the nation.
As mentioned earlier, this is a comparison of champions. American consumers have made the Subaru Crosstrek the sales leader in the subcompact SUV segment, and they have done the same with the Toyota RAV4 in the compact SUV segment. The reasons for these models' popularity will become evident in this detailed comparison of the 2024 Subaru Crosstrek versus the 2023 Toyota RAV4.
2024 Subaru Crosstrek Limited
Photo: Perry Stern
Subaru offers the new-generation 2024 Crosstrek in four trim levels: Base, Premium, Sport, and Limited. The base and Premium trims are currently available. The Sport and Limited trims with a more powerful engine are so new that they won't be available until the summer of 2023. A rugged, off-road-ready Wilderness trim will also arrive later.
With standard EyeSight tech, AWD, X-Mode driving modes with hill-descent control, and 17-inch alloy wheels with all-season tires, the Base trim is the least expensive 2024 Subaru Crosstrek. The manufacturer's suggested retail price (MSRP) is $26,290, including the $1,295 destination charge. The Premium trim ($27,440) uses the same 2.0-liter "boxer" engine as the Base model. It adds LED fog lights, raised roof rails, a Starlink 11.6-inch Multimedia Plus infotainment system, push-button start, and additional USB ports.
The Sport trim brings the 2.5-liter 4-cylinder engine to the party. It has a base price of $30,290, and its yellow exterior accents, dark gray 18-inch alloy wheels, and yellow interior trim make it stand out. The Limited ($32,190 MSRP) is the hot tip for those who want it all. Subaru upgrades the safety offering with blind-spot warning and rear cross-traffic warning. The exterior gets dark gray 18-inch alloy wheels, and the cabin features perforated leather seats with orange stitching.
The 2023 Toyota RAV4 is one of the overall best-selling models in the nation, giving it the sales volume to justify a wide variety of versions. Toyota offers the conventionally powered RAV4 in six trims: LE, XLE, XLE Premium, Adventure, Limited, and TRD Off-Road. The brand makes the gas-electric RAV4 Hybrid in seven trims: LE, XLE, XLE Premium, SE, XSE, Limited, and Woodland Edition. And Toyota outfits the RAV4 Prime PHEV in two trims: SE and XSE.
The RAV4 Hybrid and Prime models have AWD. Front-wheel drive is standard on the conventional RAV4 LE, XLE, XLE Premium, and Limited trims; AWD is available on those and standard on the Adventure and TRD Off-Road. New for 2023, the AWD Woodland Edition highlights its off-road abilities with its rugged styling. Its MSRP is $34,860, including the $1,335 destination charge.
The FWD RAV4 LE is the lineup's entry-level offering with an MSRP of $29,310. The 4-cylinder XLE Premium, with a base price of $33,710, keeps the same powertrain but provides more comfort and convenience. The RAV4 TRD Off-Road (base price of $38,930) gives buyers the choice of several all-terrain packages that improve its off-pavement abilities. The Limited trims center their appeal on luxury. With FWD, the 4-cylinder-powered Limited has a base MSRP of $37,615.
At $32,060, the RAV 4 LE Hybrid is the least costly of the hybrid models. The RAV4 Prime plug-in hybrid has a hefty base price of $44,425. A fully loaded Prime XSE with premium paint, the Weather package, and the Premium package has a sticker price above $50,000, including freight.
Advantage: Subaru Crosstrek
2023 Toyota RAV4 Woodland Edition
The Subaru Crosstrek does not rank among the top three models in the Small SUV segment in the JD Power 2023 U.S. Vehicle Dependability Study (VDS), which assesses owner-reported problems during the third year of ownership. The Crosstrek also does not rank among the top three models in its segment in the JD Power 2022 U.S. Initial Quality Study (IQS), which tracks problems experienced by owners during the first 90 days.
The 2024 Subaru Crosstrek has the following warranty, roadside assistance, and scheduled maintenance coverage:
The Toyota RAV4 does not rank among the top three models in the Compact SUV segment in either the 2023 VDS or the 2022 IQS.
The 2023 Toyota RAV4 has the following warranty, roadside assistance, and scheduled maintenance coverage:
Advantage: Toyota RAV4
2024 Subaru Crosstrek Limited
Photo: Perry Stern
The 2024 Subaru Crosstrek gives buyers the choice of two normally aspirated, horizontally opposed 4-cylinder engines. Subaru equips the Base and Premium trims with a 2.0-liter direct-injection 4-cylinder engine delivering 152 horsepower and 145 pound-feet of torque. The Sport and Limited trims get a 2.5-liter engine that produces 182 hp and 176 pound-feet of torque.
Subaru was one of the pioneers of the continuously variable automatic transmission (CVT), and that's what it uses across the entire 2024 Crosstrek lineup. The CVT in the top trims features a selectable 8-speed manual shift mode and steering wheel paddle shifters. Subaru Symmetrical AWD is standard across the Crosstrek roster. Active torque vectoring and the SI-Drive performance management system, also standard, help the driver maintain vehicle control in various conditions.
Neither powertrain choice provides enthusiast-style acceleration, but the 2.5-liter 4-cylinder in the Sport and Limited trims is the more satisfying. Adding 30 hp and 31 pound-feet of torque makes the Crosstrek feel lighter on its feet.
The Crosstrek with the 2.0-liter engine and CVT gets a 29-mpg combined rating from the Environmental Protection Agency (EPA). That's about the same as key competitors' vehicles with normally aspirated 4-cylinder engines. As of this writing, the EPA has not yet rated the more powerful 2.5-liter 4-cylinder engine in the 2024 Crosstrek. For comparison, the EPA rated the 2023 Crosstrek with a similar powertrain at 29 mpg combined.
The 2023 Toyota RAV4 offers customers powertrains galore: a conventional 4-cylinder engine, a hybrid system, or a plug-in hybrid with the most horsepower of the bunch. Toyota equips the bulk of its RAV4s with a 203-hp, 2.5-liter 4-cylinder engine. A conventional 8-speed automatic transmission (not a CVT) delivers power to the front or all four wheels.
The powertrain in the RAV4 Hybrid consists of a 2.5-liter 4-cylinder engine and an electric motor with a total output of 219 hp. An electronically controlled CVT gets the power to the ground. Meanwhile, the RAV4 Prime plug-in hybrid pairs a 2.5-liter 4-cylinder engine with two electric motors for a total system output of 302 hp. Like the hybrid, the AWD-only RAV4 Prime employs a CVT.
The hybrid and conventionally powered RAV4s offer drivers similar characteristics. Power is more than adequate, and handling is reasonably taut. However, with almost 100 additional horsepower versus the base powertrain, the RAV4 Prime plug-in hybrid is much more satisfying from an enthusiast's point of view. Its acceleration makes it one of the quickest vehicles in the Toyota stable. In addition, it offers a useful 42 miles of electric-only range with a fully charged battery pack.
The RAV4 Prime complements its on-road performance with excellent fuel economy. The EPA rates it at 38 mpg combined and gives it a 94-MPGe rating. The non-plug-in RAV4 Hybrid gets 40 mpg combined and grants its owners an expansive 580-mile range on a tank of fuel. The EPA gives the conventional RAV4 with FWD a 30-mpg combined rating. Adding AWD takes 1-2 mpg off the combined estimate in some trims.
Advantage: Toyota RAV4
2023 Toyota RAV4 Prime XSE
The third-generation Crosstrek enhances Subaru's long-established reputation for safety. The automaker fits every 2024 Subaru Crosstrek with standard Subaru EyeSight driver-assistance technology. Subaru enhanced that constantly evolving technology for the 2024 model year. Its systems now benefit from a significantly wider field of view, an additional monocular camera, and an electric brake booster. Pre-collision braking and throttle management, recently added to the EyeSight roster, detects the sudden slowing of a vehicle ahead and immediately reduces the Crosstrek's power and speed to avoid or mitigate a crash. Standard EyeSight also includes adaptive cruise control with lane-keeping assistance and lane-departure warning that works well without being overly intrusive.
In addition to the array of standard ADAS, blind-spot warning, lane-keeping assistance, and rear cross-traffic warning are optional or available on all but the Base trim. Subaru now equips Crosstreks that have EyeSight and blind-spot warning with automatic emergency steering. It leverages those technologies, providing steering assist to help avoid a collision at speeds less than 50 mph.
As of this writing, the National Highway Traffic Safety Administration (NHTSA) has not published an overall rating for the third-generation 2024 Crosstrek. Likewise, the Insurance Institute for Highway Safety (IIHS) hasn't rated the crashworthiness of the 2024 Crosstrek.
Over the past decade, Toyota has been a leader in equipping its vehicles with electronic safety and driver-assistance features under the Toyota Safety Sense (TSS) banner. Drivers of its high-volume RAV4 are major beneficiaries of this philosophy, getting standard safety systems that buyers of luxury brands must pay extra for.
Toyota equips its 2023 RAV4 lineup with Toyota Safety Sense 2.5 (TSS 2.5). It includes forward-collision warning with pedestrian and cyclist detection, automatic emergency braking, and automatic emergency steering with pedestrian detection. Its standard traffic-sign recognition, lane-departure warning, lane-keeping assistance, and adaptive cruise control are especially useful on long, cross-country trips.
Though not precisely a safety feature, automatic high-beam headlights are convenient and work well. Toyota's rear-seat reminder system, not officially part of TSS 2.5, also comes standard on the 2023 Toyota RAV4. Blind-spot and rear cross-traffic warnings, included in some competitive brands' standard safety system rosters, are available optionally. Front and rear parking assist with automatic braking are optional on several 2023 RAV4 trims.
The NHTSA awarded the 2023 Toyota RAV4 the highest-possible 5 stars overall in its crash-protection rating program. Additionally, the IIHS named the 2023 RAV4 a Top Safety Pick for the 2023 calendar year.
Advantage: Toyota RAV4
2024 Subaru Crosstrek Limited
Photo: Perry Stern
Many reviewers have noted a marked improvement in Subaru's infotainment and tech over the past few years, and the 2024 Crosstrek reflects that. The new third-generation crossover offers several versions of the brand's Starlink multimedia media system. All feature high-resolution touchscreens, Apple CarPlay, Android Auto, and Bluetooth connectivity for streaming and voice-activated phone calls.
The automaker fits the base 2024 Subaru Crosstrek with a unique 7-inch dual-screen Starlink Multimedia system. It features AM/FM stereo, HD Radio, Bluetooth hands-free streaming, multi-touch gesture control, and wired-connection Apple CarPlay and Android Auto. Subaru includes SiriusXM All-Access Radio and SiriusXM Travel Link in a 4-month free trial.
The Crosstrek Premium and Limited trims upgrade to an 11.6-inch Starlink Multimedia Plus system with wireless Apple CarPlay and Android Auto. The Limited trim includes a 10-speaker Harman Kardon premium audio system as well. The top system, optionally available, adds voice-activated TomTom navigation and a 3-year trial of SiriusXM Traffic and Travel Link.
After enduring criticism for its previous infotainment options, for 2023, Toyota switched the RAV4's infotainment systems to new versions of its homegrown Toyota Audio Multimedia. The benefits of the new systems are noticeable immediately. The majority of 2023 Toyota RAV4 trims get a standard 8-inch touchscreen. The TRD Off-Road, Hybrid XSE, Limited, Hybrid Limited, and Prime XSE feature a standard 10.5-inch display. Regardless of screen size, the systems include wireless Apple CarPlay and Android Auto, and its Bluetooth delivers two-phone capability. An 11-speaker JBL premium audio system, including a subwoofer and amplifier, is widely available as an option.
The speed and clarity of the new Toyota Audio Multimedia system are readily apparent. They present driver and front-seat passengers with easy-to-see icons and offer a streamlined menu and page structure compared to previous Toyota systems. While perhaps not quite to the level of some competing systems from U.S. carmakers, they are significantly better than previous Toyota systems.
Advantage: Subaru Crosstrek
2023 Toyota RAV4 Prime XSE
By its very nature, the 2024 Subaru Crosstrek is more car-like than many of its rival subcompact crossovers. In profile, it seems more like a sedan or hatchback than a traditional "2-box" SUV, and that extends to its on-road manners. It has the agility of a hatchback, and its overall length makes it easy to park. Inside, the dash offers an instrument cluster featuring a 4.2-inch multi-function color LCD. The center-dash infotainment screen sits over the push-button controls of the automatic climate control system.
The Base, Premium, and Sport trims of the 2024 Crosstrek have cloth seats, and the Limited trim offers its occupants leather seats highlighted with orange stitching. Subaru equips even the base Crosstrek with a wealth of comfort and convenience features. Dual-zone automatic climate control, power windows with auto up and down, 60/40 split-folding rear seats, power door locks, and power side mirrors are standard.
Occupants will find the 2024 Crosstrek delivers a sedan-like ride and experience. It's easy to get into and out of, and the seating positions provide good outward visibility. The rear seat might be tight for three adults, but two couples will find the Crosstrek very accommodating.
The 2024 Subaru Crosstrek offers 100.5 cubic feet of passenger volume, making it one of the most expansive subcompact crossovers. It provides 19.9 cubic feet of cargo space behind the rear seat. With the seatback folded, 54.7 cubic feet of cargo space open up.
The 2023 Toyota RAV4 employs the traditional design of a crossover SUV. With a roof height of 67 inches, it is a full 4 inches taller than the 2024 Subaru Crosstrek. That has its advantages in entry-exit and cargo capacity. The taller roof and higher seat cushions give RAV4 drivers a good driving position with excellent visibility. Front- and rear-seat legroom, shoulder room, hip room, and headroom are remarkably similar to the Crosstrek's measurements, but the Toyota's cargo hold is much larger than the Subaru's.
Toyota fits the lowest RAV4 trims with manually adjusted cloth-covered seats. Synthetic leather seats and an 8-way power-adjustable driver's seat are standard in mid-level trims. Toyota equips the top RAV4 grades with faux leather seats, and several offer unique treatments like the orange stitching in the off-road Adventure trim. Up-level trims like the XLE and XSE feature dual-zone automatic climate control.
The 2023 Toyota RAV4 provides a very accommodating 37.5 cubic feet of cargo area behind the second row of seats. With the rear seatback folded, the RAV4's cargo space expands to 69.8 cubic feet. The tailgate, power-operated in some trims, provides easy access to the RAV4's substantial cargo area.
Advantage: Toyota RAV4
If you'd like to learn more about these small and compact SUVs, be sure to read our expert reviews of the 2024 Subaru Crosstrek, 2024 Subaru Crosstrek Limited, and the 2023 Toyota RAV4. To find out how people like you rate models in this segment, check out our ratings from verified vehicle owners.
Also, please keep in mind that while the information in this article was accurate and valid on June 1, 2023, it may have changed since that date. Always confirm product details and availability with the automaker's website or your local dealership.
Jack R. Nerad has reviewed cars, trucks, vans, and sport utilities for over three decades. He also managed the editorial efforts of Motor Trend magazine, JD Power, and Kelley Blue Book. Jack is currently the host of the SportsMap Radio Network program America on the Road , available on Apple Podcasts, iHeart Radio, Spotify, Stitcher, and other outlets.
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