I purchased a 2017 RAV4 at the beginning of the year and installed a two way radio in it shortly thereafter. I believe their are some differences between the 2012 and the 2017 but I have to admit that the RAV4 is painfully shy of space to satisfy us radio folks. I managed to install a radio whose head can be mounted separate for the main deck. If your scanner can do that, you might have some success. One option may be to mount it behind the armrest between the two front seats. Depending upon your model , this may cover some features of the armrest to the rear passengers and may place it too far to reach. The only other suggestion would be to mount the entire radio on top of the dash. However, I'd be very hesitant to do so. It places the scanner in the sun which likely offers no environmental favors. Worse yet, it has the potential to become a missile in an accident (or may interfere with air bags) Having been in a couple of major vehicle accidents in my lifetime, I can say with experience that they aren't as fun as people let on. You sure don't want your head to be playing "pinball" with loose, hard or heavy items in a crash.