We won't be able to guess without looking at the car especially if the dealer can't figure it out. Could be an axle, an engine mount, a wheel, etc. Many possibilities but no sense in replacing parts. Bring it to a good independent shop to see if they can get further with the diagnosis.
If you need to find a shop near you, use this link
https://repairpal.com/repair-shops
Alex
RepairPal Certified shops can diagnose and repair your 2011 Toyota RAV4. They provide transparent pricing with a minimum 12-month or 12,000-mile warranty on repairs and services.