I don't know the plug sizes offhand, sorry. The datasheets just list fluid capacities and types. You'd be best off taking your whole set, if possible. I bought a
GearWrench GearRatch pass-thru socket set for the times when I need something compact and portable.
The best info I could find online on driveline fluid changes in a second-generation RAV4 was
this thread from some overseas RAV4 owners.