We have both, but if I don't have them, I'll still take the Santa Fe.
Build quality of both vehicles are very good. Nevertheless, the RAV4's FC is kinda bad (minsan mga 5km/L or even lower, pure city driving). RAV4's ride is somewhat the same as the Santa Fe's, but the interior is smaller. Another thing, the Santa Fe has much more torque over the RAV4, which is much more useful in driving around town.
Both vehicles are nice. Fuel costs is a big factor in our monthly expenses, so I'd still choose the Santa Fe.