Here's some help in calculating your numbers:
CGVWR (combined gross vehicle weight rating) This is what the motor home weights PLUS what it can tow safely according to the manufacturer.
GVWR (What the motor home weights by itself, fully loaded with water/propane and all your stuff) The way to get the true weight is to have it weighted at a scale.
When you subtract the GVWR from the CGVWR that is the true number you are working with and the number you need to find. As long as that number is greater or equal to what you want to tow, you should be fine. HOWEVER, many hitches on gas engine motor homes are rated for only 3500-4000 lbs. If you go over that weight, you will have to replace your hitch with one that can handle more weight.
The reason we (especially the staff here) continually preach checking your numbers is because it does make a difference in how the motor home handles and wears. If your numbers work out that you can pull a trailer with the RAVA4 on it, you most assuredly need a braking system. Another reason we are so emphatic on running the numbers is that the lawyers in an accident, whether you are responsible or not, will check to make sure you and all your equipment are correct and did not add to the accident.
FWIW, when I began pulling horse trailers I drove a Ford 150 gas truck and pulled a heavy load of horses, equipment and feed. Within 2 years, I ran through 2 sets of brakes, and a transmission all because I thought I knew better than all the other horse people telling me I would have trouble. It cost me 2 trucks, the F150 and the new Chevy 3500 1ton I bought 2 years later.
Run the numbers!
Marsha~