I tell you, wonders will never cease. From the moment Toyota introduced the RAV4 back in the 20th century, I felt that it wasn't for me. I thought it looked silly, I wasn't impressed by the idea of something that looked vaguely like an off-roader but wasn't meant to go off-road (the original press launch gave us the opportunity to drive across a grassy field - whoopdy-doo!) and I really didn't think it was up to much on-road either.This feeling continued for a long time. Three years ago CARkeys tested a current model, and while others here were quite taken with it, I thought it was lousy, particularly in terms of its ride and handling on tarmac.So you can imagine my reaction when I heard that another of the blighters was coming this way for evaluation. "How one suffers for one's art," I muttered. "Oh, Death, where is thy sting?"I lived with it for a week. And, do you know, I really quite liked it.The styling helps. The RAV4 design has matured over the years, as Toyota has removed the original boggle-eyed look and replaced it with something more purposeful. But what has really made the difference is the fitment of Toyota's excellent D-4D turbo diesel engine. This has so much mid-range pull that you can achieve decent acceleration with just a tweak of your toes, and the result is that the diesel version is by far the most relaxing RAV4 I have yet encontered.It's not a particularly quiet unit, but I've driven a few serious off-roaders in recent weeks and the RAV4 is a lot more peaceful than any of them. The diesel clatter is still quite obvious, but it's also subdued enough for you to become used to it pretty quickly.Several cheers, too, for the major work that has clearly gone on in the chassis department. There was almost no evidence of the bouncing and pitching that made driving previous RAV4s so unpleasant, and there's a school of thought at CARkeys that perhaps the compromise necessary in dealing with a bulky engine (diesels being unavoidably heavier than petrol units) has actually had a positive effect on the general set-up.Decent room in the front, a bit cramped in the rear - the latter partly because the high floor line leaves forces taller passengers to sit with their knees sharply bent.I reckon Toyota has done a fantastic job with the current MR2 and Celica, but personally I find it even more impressive that they've also come up with a RAV4 that I would be happy to live with. Never thought I'd see the day.Second opinion: The second-generation RAV4 is certainly an improvement on the first, although Toyota still upsets some hairy-chested 4x4 fanciers by talking about the car as a "fashionable sports utility vehicle". Well, fashionable - where's the harm in that? The current five-door model is much more stylish than most of its rivals, with a swoopy-panelled exterior rather more to the point than the original. And the RAV4 also has a civilised interior, with a dinky set of instruments to enhance the driving experience, a remark which isn't intended to suggest any limp-wristedness. It's true that in a D-4D version, while there's extra sound-proofing, you never lose the impression of being in a diesel, although the noise levels aren't anywhere near annoying. Excellent engine, of course, responsive via its drive-by-wire throttle, and with a good blast of torque: 184lb/ft from 1800rpm. Very pleasant to drive, and particularly light on the steering, especially compared with some of the more muscle-bound turbo diesel 4x4s. Ross Finlay. Engine 1995cc, 4 cylinders Power 114bhp Fuel/CO2 39.8mpg / 190g/km Acceleration 0-62mph: 12.1 seconds Top speed 106mph Price £18,695 Details correct at publication date