The company said if rear suspension nuts aren’t tightened properly after a wheel alignment, the arms can rust and separate from the vehicle.
Toyota reported nine crashes and three minor injuries from the problem.
RAV4’s covered by the recall are from the 2006-to-2011 model years.
The recalled Lexus sedans are from 2010 only.
Toyota will notify owners by mail when vehicles can be brought in to dealers for free repairs.
In the meantime, Toyota is telling drivers to contact their dealers if they hear an abnormal sound in the rear of the vehicle.