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I have owned my 2022 RAV4 Hybrid now for 2 months and the reverse noise is actually starting to drive me crazy. It is the most irritating sound. T actually turns heads and I even had one gentleman shake his head. It’s quite embarrassing to garner this much negative attention and it is spoiling the joy of having such a beautiful new car. I am sure it wakes up all my neighbours as I leave for work very very early in the morning it echos through the neighborhood. I did not get the angelic sound you described on my new car! I have tried to find a place on the Toyota website for feedback in hopes they can improve this in the future
Otherwise I my just have to watch some YouTube videos to dismantle. Not ideal as I understand the need for some warning to others. But seriously going nuts!