Have a 2017 RAV4 LE. There’s a loud knocking noise when I start out in the morning and I typically hear it when I’m slowing down to stop.
With the limited information provided, my first guess is CV joint.
Suggest to do some experiments. For example, during stopping, does the sound change depending on whether you are in gear or neutral? Are you able to hear this sound first thing in the AM when idling the engine in the driveway, by pressing on the gas a little to increase the engine rpm? Does it change when turning vs going straight?