TOYOTA 2011 Rav4 - Manual (Page 483)

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5-2. Steps to take in an emergency
If you lose your keys
New genuine keys can be made by your Toyota dealer.
For vehicles with the smart key system, bring the other key and the
key number stamped on the key number plate.
For vehicles without the smart key system, bring a master key and
the key number stamped on the key number plate.