There are a few of companies that do decent flat towing equipment one of which is Janer who import the Sterling range fro the USA.They are based on the Great Ocean Road in Victoria at Lorne.

This is their website. The homepage has a list of various RAV 4 variants that can be flat towed and some which can't.

http://www.janer.com.au/tracker.html

There is another company that do a different brand and they are a company called Northcoach. They sell one called the Ready Brute.

This is their webpage.

http://www.northcoach.com.au/a-frame-towing/a-frames/

I don't know if they have a list of vehicles that you can flat tow.

Another company is Hitch-N-Go in Qld at Yeppoon.

http://www.hitchngo.com.au/

I flat tow a Suzuki Grand Vitara behind my Motorhome with one of their A frames

I don't need the braking system due to the weight of my Motorhome but you can either have overrun brakes or another system such as remote electrical or hydraulic at a cost. Another system is an overrun system with a cable attached from the hitch to the brake pedal of the vehicle. All have pros and cons.

Hope you find what you need.