It has a timing chain.
The 2.4 liter four cylinder in a 2004 Toyota Camry has a timing CHAIN
http://www.toyota.com/help/faq-service.html 2004 Toyota Mtrix has timing chain
Chain
Your 2004 Toyota RAV4 has a timing chain that is designed to last the life of the engine.
In a 2004 Toyota Highlander : The 2.4 liter four cylinder has a timing CHAIN and the 3.3 liter V6 has a timing BELT
Timing_chain_diagram_2004_toyota_ce
no the 4-cylinder model has a timing chain
The 4.0 liter V6 engine in a 2004 Toyota 4 Runner has a timing CHAIN
timing BELT
2004 Toyota Sequoia has a timing CHAIN, not belt, so I would assume that an '03 also has a chain.
Your 2004 Toyota RAV4 has a timing chain that is designed to last the life of the engine.