There's a pretty good article about this on the Nefesh B'Nefesh web site, but here are a few main pointers (never actually did this, but came VERY close so I had looked into it):
1) Don't forget insurance costs when the car is in transit over the ocean.
2) You may have to change out the front headlights to the European spec (Note: I'm talking about the ENTIRE headlight assembly, not just a bulb!) Check if the US assembly and European one are interchangeable and look identical. Ebay can be a friend here.
3) If you don't have blinkers on your side mirrors, you'll have to install extra blinkers on your front fenders.
4) You'll need a letter from a garage saying that they are willing to fix the car once in Israel.
5) Check if your engine was sold in other cars in Israel. It doesn't have to be from a RAV4. As long as it's the same engine but sold in a different model, you can at least get parts. If the engine wasn't offered here, you'll have to ship over parts from the US if something breaks.
6) If the car was not offered here, you'll have to get it appraised in order to get it insured.
There are surely other bureaucratic headaches to overcome, but I think those are the biggest. Just don't play games and think it will all work out if you run into some insurmountable problem (I.e. Headlight specification issues). They WILL ship the car back to the US without remorse!!!
