As I owned a 2000 3door RAV4 for daily car before, I can give you some opinion.
The RAV4 is a beautiful car to drive, the build quality, handling, comfortable, more space, easy to park.
Moreover, it is more safety than the vitara. I got a small accident before, I was driving straight on the main road, a Excel came out from the small road, she didn't stop on the Giveway sign and hit my passenger side door. The bumper of Excel went inside quite a bit, but the door of my car just only had the color mark, not even a dent!!
For the oil consumption, the RAV4 is quite thirsty, a full tank of petrol(35-40L) can go for around 380KM(freeway and city), I think because the car is quite heavy(when you open and close the door, you can feel it).
So I will go for the RAV4, even the vitara is cheaper and the oil consumption is better, but the RAV4 is more reliable and safety as a daily car.