If the question is will it move the boat a short distance the answer is yes. If your asking if its a good idea no. The Rav 4 according to google has a 1,500-3,500 towing capacity depending on engine and other factors. The Catalina 22 loaded on a steel trailer with anchor, water, etc will be pushing 4,000 lbs on the heavy side and 2,500 on the light side (racing vs cruising).
What this means in practice is that you will move the boat but struggle to get it up the ramp after retrieval and to hold the boat and trailer on the ramp during launching (small vehicle breaks and tires for traction). Moving down the highway is actually the least demanding part of towing though if the tongue weight is off at speed the boat would toss the car around like a toy.
My recommendation is that for only twice a year rent a truck for the launch and retrieval. That way you know you're good. Your vehicle would easily move it around a level yard for winter storage or working on projects, etc.