Warning lights on a 2006 toyota rav 4 32,000 miles

I had the same problem. A computer check showed that the emission system was having difficulty. The catalytic converter had to be replaced. The car had under 80,000 miles on it so it was covered by a warranty (State law? Federal law?).
My battery was also dead. That was replaced free too. It had a 7 year warranty.
I do NOT purchase extended warranties.

I have problem with mine and was told it was the left bank catalytic convertor (dealer wanted $1170.00 plus sales tax for this one) (the six cylinder has three and the four cylinder has two). THEN I READ MANUAL.... READ WARNINGS IN MANUAL....
....use only unleaded gasoline(no problem).....
do not drive with low level of gasoline...could cause a misfire and thus create an excessive load on the catalytic convertors...problem..running out of gas will mess up the 3 convertors do not allow the engine to run at idle speed for more than 20 minutes.....problem...might mess up the convertor (wait for kids somewhere????? no can do) ....Avoid racing the engine....(it might mess up the convertors) do not push start or pull start your vehicle......might mess up the convertor..... Do not turn the engine off while the vehicle is moving.... It might just mess up the convertors ...

ON another note be sure not to top off the gas when filling as it might messup the vapor can in the gas tank and cause other problems.

I have this EXACT same issue with my 06 3.5L RAV4 as well only mine is also having all 6 cylinders misfire. I don't see how a catalytic converter would cause my cylinders to misfire. Did you find out your problem?