I don't have experience with the rav for wheel bearings but i do with a newer ford windstar and it was just a matter of following a shop manual. removed the whole knuckle assembly and had a shop r and r the wheel bearing - easy as cake. In your case i'm not so sure if there will be some major pressure on that knuckle or not... get a manual like a chiltons or haynes and follow the writup - oh, and good luck
AUSSiE

'88 4Runner
3.0, mod'd intake, dynomax exhaust, everything else stock.
Life will always go on....