Sounds about like two of us sleeping in the RAV4 so just might work, thanks!Last year when I had my roof top tent off my rig, I had a 5 day training exercise (I'm an Army reservist) up at Camp San Luis Obispo and had to sleep in my GX. I'm 6'0", almost 6'-1". To sleep stretched out (which I do sleep that way), on all the folded down seats, I had to move the passenger seat up all the way and back fill the gap between the middle seat and front seat so my pillow wouldn't fall through. But it worked! Albeit, kind of uncomfortable because when everything is laid flat, there is still a rise from the middle seat and rear seat of about an inch.
Just my experience...