Both the 2021 Toyota Venza and RAV4 Prime have earned the 2020 Top Safety Pick award from the  Insurance Institute for Highway Safety (IIHS), when equipped with specific headlights.

To receive the second highest rating from the IIHS, a vehicle must earn good ratings in six crashworthiness evaluations, including the driver-side small overlap front, passenger-side small overlap front, moderate overlap front, side, roof strength and head restraint tests. It also needs advanced or superior ratings for both vehicle-to-vehicle and vehicle-to-pedestrian front crash prevention and must offer acceptable- or good-rated headlights.

The Venza XLE and Limited trim levels earn the Top Safety Pick rating, since the LED projector headlights earned an acceptable rating. Unfortunately the LED reflectors on the base LE trim level only received a marginal rating due to inadequate illumination on left curves.

The curve-adaptive LED projector headlights on the RAV4 Prime that are part of the Premium package on the XSE trim earn a good rating, but the base LED projectors earn a poor rating due to inadequate illumination on curves.

Both the Venza and RAV4 Prime missed out on the higher-tier Top Safety Pick+ award since not all the available headlights earned a good or acceptable rating.