No they are on demand...permanently

or at least that is the extent of my googling as a great part of my motivation to get one was to stop bloody modifying things and just put fuel in and drive it.
Having owned both an Escudo and Rav I would say there is little to no difference in their offroad ability as they roll off of the showroom floor,however the Escudo does have far more potential to be easily and relatively cheaply (maybe 3xpurchase price) to be turned into a real off roader....thats not really an option with the rav.
Suzies are disproportionately expensive now due to the fact that autos can be put transfer case in neutral and towed on an "A" frame behind a motorhome.... the one we struggeled to get 3k for a few years ago in mint cond now go for 3-8k with another 100tho km on them.
The major difference is on road tho, the suzi suffers directional instability badly at relatively modest speeds it struggles to achieve... It is definitely NOT a good learners vehicle in the older variants,engines must be mercilessly raped to maintain any sort of open road momentum and they shit heads alarminly reguarly.
The Rav on the other hand has plenty of power for a small vehicle with the 2l and altho it looks like it is just waiting to swap ends or roll over for a belly rub it actually goes/handels/stops remarkably well,Same era Suzuki is not even in the same league.
Fuel economy the rav will be worse of course 2l verses 1600 but its splitting hairs they will both be driven flat to the floor most of the time.
DO NOT BUY A 2L V6 Suzi if you buy one get the 1600 4cyl the v6 is a dog, even worse directional stability and cam chain tensioner issues that are pretty much engine out jobs to fix.
The fact that the Rav looks as gay as a handbag full of rainbows couldnt put me off either

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