The best way to get out of the lease is to sell the car. Check Carvana, Vroom and CarMax, etc.
Honestly, it sounds like you do not like the car and this is a primary reason you want to get out of the lease.
We do not know everything about your situation, but is it possible that this type of behavior got you in a trouble in the first place?
Do you have a replacement car in mind? Budget? Right now might be good time to limit your loss on RAV4 but not to lease or buy a new car.
I would suggest you explore Bogleheads forum https://www.bogleheads.org to seek a financial wisdom.