I just got my '96 Rav4 running using MegaSquirt for engine management. The MS unit plugs into the existing harness and I didn't have to do any wiring changes in the engine compartment.
If you're interested, here's a link to my "How To" article.. The key to getting the Rav4 to run was to configure MegaSquirt to recognize the 36-2 trigger wheel mounted on the crank. I understand Toyota used this wheel setup on other cars in the late 90s on up, which should make it easy to "squirt" them.
My goal is to install a low-boost turbo setup on my stock 3sfe. (I know, pretty silly
MS should help me manage fuel and timing so I don't blow up the motor (fingers crossed!). This is my second MegaSquirt/Turbo project. I installed a turbo system on an '87 MR2 in late 2004. I sold the Mr2 a couple years ago, but talked with the owner a few weeks back and it's still running fine. My hope is to repeat that success with the Rav4.

