The RAV4 is awful. The wife had one for a couple of years and couldn't wait to be rid of it.
To be honest, the segment that you're looking at is generally utilitarian. They're vehicles bought by people who are primarily concerned about utility more than performance and are heavily influenced by price.
Since all three of your choices come equipped with a CVT (Continuously Variable Transmission) - a device known to be the most heinous, diabolical piece of mechanical engineering ever created - I'd say choose the lesser of the weevils and go with the Crosstrek. Subaru builds a damn fine vehicle.
If you want to expand the scope of your search, definitely look at the CX-5, as mentioned above.