I used to run 4.10s in my '96 S/C 3.4L Taco w/5-speed and 31s; it was pretty quick.
With the 4.7L in my Tundra, I swapped the 3.91s to 4.30s when I went to 32s.
In my Heep with a hopped-up 4.3L Chevy/TH-350 and 4.7 xfer, the 4.10s are just fine with the 35s.
The RAV on 28.5s with 270hp and whatever final drive ratio hauls ass; i bet it would beat the S/C Taco on the dry, and would most certainly stomp it in the wet.....offroad, not so much.
For your application it would seem the-lower-the-better if going with the 37s.