Gordon,
I bought my RAV4 D4D XT4 new in 2006 and love it to bits (with the possible exception of the side opening rear door. I can thoroughly recommend it to anyone as a good tow car and solo it is great. However I think that the weight of your van may rule it out as the nose weight is 80 kilos while the Honda comes in at 100 kilos.
I tow a Abbey Aventura 320 which has a MTPLM of 1352 but I am never anywhere near it
In summary I am sure you would not be disappointed with either car provided it is Diesel but I think the Honda may just have it on noseweight
Good Luck
George Mc