I can heard the groaning noise when I’m driving my 2019 Toyota Rav4 Adventure.
If you are looking or help, we will need much more useful information, like what groaning noise are you talking about, and at what speed, does it change if with speed???
Might be noise from the transfer case electro-magnetic clutch.
Background
This Customer Support Program provides coverage for a condition involving the front transfer case electro-magnetic clutch in certain 2019 – 2020 model year RAV4 Adventure and Limited grade AWD vehicles.
An abnormal buzz or groan noise from that case can occur with Normal drive mode selected during disconnect/connect timing of the AWD system. This condition typically occurs between 20 and 30 mph when accelerating from a stop, and/or between 20 and 13 mph on deceleration after driving the vehicle for 15 minutes or longer.
Factory warranty has been extended to 10 years/150,000 miles.
Document link below:
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My mom had the same car. If you would describe what the sound was like maybe I could say something more. Her car also had a problem with making noise and wheel bearings were the problem.