I got this USB Port from Amazon and this Fuse piggyback to tap into a fuse that turns on when the key is turned. I can't find the YouTube video I used, but there are a few out there.

The panel itself pops out if you pry from the side with a plastic panel removing tool, but it's easier to disassemble more of the console. If you search for 2010 Rav4 USB Port installation on YouTube, there are some good options.