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I think there's an easier way. The RAV4's rear drivetrain is an all-in-one motor, reduction gear and differential, but the Ridgeline already has a bolt-in rear differential. Better still, that rear differential already has off-the-shelf axles which plug into off-the-shelf rear knuckles, because the Ridgeline was offered in AWD. No need to reinvent all of that.
My advice would be, rather than to try to fabricate into place Toyota's motor and differential, to gather all of the rear driveline stuff from an AWD ridgeline (knuckles, axles, differential), as if you were to be doing an AWD conversion. Except, rather than putting a driveshaft between the rear differential and a front transfer case, simply bolt an electric motor of your choice to it.
You'll need a controller and battery, but you would need that for the RAV motor too.
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