Looks like the V won the most important part of CR's
review...reliability. It's funny though that CR calls the Rav4 their
favorite car-based SUV and it rated as middle of the road in the
reliability department. And reliability is very important to me a
single person whose V is his only form of transportation. It's the
number one reason why I purchased my 2000 model.
David B

The RAV-4 is a very tight fit for my 6'2" 245lb frame. I kept trying to
push the seat back further, like in Saturn vehicles, but there was no more
room to be found, like in Saturn vehicles - LAUGH.

A note, the gas cap broke apart and the washer tank pump quit working
(RECORD LOW TEMPS last night) on the 2002 Dodge Caravan (7K miles) I have
been driving at work. Stinks- couldn't put any gas in the vehicle at the
pump so they brought me another Caravan to drive!! Boss said, "nothing
surprises me anymore when it comes to American designed and built vehicles".

SALTMAN

When I was shopping for a smallish SUV and test drove the Rav4, I had the overwhelming urge to lean to the center of the vehicle because the seats were mounted so close to the sidewalls and the sides slope so dramatically to the center. It was a singularly uncomfortable vehicle.
 
On the other hand, the CRV was wide open spaces and lots of leg room.
 
JRC
 
 

I found trhe CRV a lot roomier than most, but found my foot in an awkward position when pressing on the gas pedal in the 5 speed version

I too drive a 2002 CRV 5spd but don't have the problem that you are
having but did encounter a minor difficulty last weekend while ice
fishing, I drove the CRV to another location and I drove with my snow
boots on.

My gal friends like the position saying it makes driving (my 5-speed '99 CR-V) with high-heels easier?  I got used to it after about 20k miles, but the pedals are somewhat upright. 
A different (AFTERMARKET) set of pedal pads may make a difference and can be found at companies such as nopionline.com.  There are so many sizes, colors, material choices, have fun deciding, also they are simple to install!!  I'm lucky and can go to a Nopi parts supplier locally, this allows me to check out the different choices and sizes.  Check out the magazine rack for sport compact car magazines, they usually have a plethora of pedal pads and suppliers.
SALTMAN
http://www.BSALT.com