Will this connect to my existing power mirror wiring?

This mirror uses standard OE power connectors designed for your RAV4. Plug it into the factory harness and you're done — no rewiring needed.

What about the glass — is it included?

Mirror assembly ships as shown. If you need replacement glass separate from the housing, that's sold as a standalone part.

Do I need to remove the door panel to swap it out?

You'll need to access the mounting bolts from inside the door. Mounting method and fastener specs are in your service manual — grab that before you start.