In a 2002 Toyota RAV4, you add antifreeze to the coolant reservoir, which is typically located near the engine bay. Look for a translucent plastic tank with a cap labeled "Coolant" or "Engine Coolant." Ensure the engine is cool before opening the cap, and check the fluid level against the markings on the reservoir. If necessary, add a mixture of antifreeze and water according to the manufacturer's specifications.
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