The RAV4 is a very reliable car so I wouldn't be too concerned about continuing to run it once the warranty has expired. That said, an electric car sounds like it'd suit your needs well, provided you can charge at home. It'll be cheaper to run than your RAV4, while servicing costs should be low as there are fewer mechanical parts.

There's also the convenience factor - you won't have to visit a petrol station again. Only you can decide whether these incentives are enough to justify the high purchase price of an electric car. The Hyundai Kona Electric and Kia e-Niro are both excellent choices.