There are two different types. One can be disconnected in the fenderwell (late style), and the other has a longer harness that requires dropping the HV battery in order to replace it.
As I've got my HV battery removed, here's the (dis)connection point for the earlier charge inlet, about where the firewall meets the old transmission tunnel. This is with the HV Battery removed:
If you have an early RAV4 EV, that's where you disconnect the charge inlet to replace it. If you have a later one, there's another disconnect in the fenderwell (well shown at the link in previous post), above the protective plastic.
A couple of rearward pics, showing the rest of it: