I used Kolacen fuse taps
One fit perfectly, the other was loose so I added a dab of hot glu to hold it in the socket. No problems so far I think. Be careful when putting the fuses into the adapter. It's kind of snug so be patient inserting it so it doesn't break.
Technically, it wasn't all I needed. Since the kit was intended for hardwiring the dashcam, I needed to buy compatible add-a-fuse kits for the addition of the two connections.
After a few days of use, I'll definitely post about it!
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.