Today I was bicycling around town so I stopped in at the Toyota dealer down the street and talked to a few of the half-dozen salespeople on the floor. They had one example of the 2016 RAV4 hybrid, and I took a peek underneath.
It does appear that, while the early CA-only compliance cars use a Tesla drive, the current RAV4 has an electric rear axle sourced from ZF:
http://www.autoevolution.com/news/zf-s-new-modular-rear-axle-has-steering-and-electric-drive-options-104410.html#agal_0
Like that without the rear-wheel steering. What I'm
really liking a lot though, is this system from a proposed urban car:
http://www.zf.com/corporate/en_de/products/product_range/cars/cars_electric_twistbeam.shtml
This would be awesome in the back of a Baja Bug, with the twist beam located where the rear torsion bar housing is.