Everyone who said that it was a mixup is correct.
But only the ones who voted for dealer mixup, because Toyota does not etch the glass at the factory. There are services which will do this for you as an aftermarket thing to (hopefully) make your car slightly less likely to be stolen (very slightly).
Concerns with etching side window glass is that tempered glass with abrasions in its outer surface are more likely to shatter.
Some models also have special VIN stickers on several key body parts, but European and Federal regulations dictate which vehicles need that extra step (only the ones which lack certain levels of built in immobilizer systems and theft prevention design require them, other vehicles which include these things are allowed to skip the expense of additional stickers).
No doubt the same folks who would provide a glass etching service could also provide similar VIN stickers if desired. Having these things done by your dealer sounds like "Scotchguarding", and "Undercoating": great ways of boosting the dealer's bottom line by charging customers $300 for $10 worth of product. Not that they don't work, but that they generally charge many multiples of what they actually cost, and often aren't necessary.
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So you think that some dealerships have like a VIN GLASS etching "service" I would assume come over to the Dealership (rather than the cars being taken to a 2nd location-) and have this service performed? It wouldn't be feasible in my estimation to ship every car out to some secondary location, I don't think- but I could be wrong.
IF you can find out what dealership sold the 2010 Rav4, you might be able to verify that they also originally (maybe) sold your 2013FJTT. IF it seems that these two cars were never both at the same dealership I'd be more concerned.
In practical terms it doesn't really matter unless they find the VIN Glass with ID from your REAL frame and body laying on the ground at some Hit and Run or similar accident. They could track back to you, unfortunately. You could have this resolved by having a statement from Toyota issued, Dealership, DMV or whoever will cooperate.
You could try to have the DMV contact the RAV4 Owner and have them check their Glass VIN
#- would be interesting to see if they have your VIN Glass.