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Whether or not you intend to use the mattress in the back of a Toyota RAV4 affects the answer. You should be able to transport a mattress on top of the wheel wells by either moving the seats forward entirely or slightly folding the mattress at the edges lengthwise. However, taking a nap back there isn't feasible due to lack of support from sitting on the wheel wells and the length being insufficient. If your goal is just to move the mattress, it will fit, though you might need to fold it a bit and put in some effort.
A standard mattress can fit into the rear of a Toyota RAV4.
Absolutely, it’s possible.